Add asset kitchen_supplies/storage/b41f32f6d8d757be9e77cf7904a72b34

.gitattributes

@@ -7155,4 +7155,4 @@ dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/affordance/mes
 dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/b138efeab8795782be4d598d05695934/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/b3565798b8c158c38a1eafbb010137df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/b41f32f6d8d757be9e77cf7904a72b34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/b41f32f6d8d757be9e77cf7904a72b34/affordance/affordance_annot.json

@@ -0,0 +1,109 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body frame",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top or outer cabinet body to lift or reposition the nightstand",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the cabinet frame to stabilize the unit while operating the drawers",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "support the structure",
+                "enclose the drawers",
+                "provide stability",
+                "bear load from the top and outer shell"
+            ],
+            "semantic_description": "Large light beige wooden outer cabinet body with a matte smooth finish and subtle wood grain, including the top, outer frame, lower base, and feet visible around the drawers.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side panel area to help carry or reposition the cabinet",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold a side panel to steady the cabinet during drawer operation",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "enclose the side",
+                "provide lateral support",
+                "stiffen the cabinet body",
+                "protect drawer contents"
+            ],
+            "semantic_description": "Tall light beige wood side panel with a matte smooth surface and faint grain, rectangular and full-height along each side of the cabinet.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front or handle area to pull a drawer open",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide the front face of each drawer",
+                "allow drawer opening and closing",
+                "cover the cabinet opening when shut",
+                "support attached handles"
+            ],
+            "semantic_description": "Three light beige wooden drawer front faces stacked vertically on the front, each with recessed panel detailing and a horizontal dark metal pull handle.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior/base panel",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form part of the drawer box interior",
+                "support stored items inside the drawer",
+                "define the drawer's inner storage space"
+            ],
+            "semantic_description": "Flat light beige interior panel visible inside an opened drawer near the lower side/rear area, with a smooth matte wood-like finish.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding movement",
+                "align the drawer",
+                "reduce wobble during opening"
+            ],
+            "semantic_description": "Narrow dark gray metal slide rail with a smooth industrial finish, mounted inside beside each drawer and visible when drawers are open.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer fronts mask/color and handle description are incorrect; front purple part includes whole drawer boxes, and handles are unannotated."
+    }
+}

dataset/kitchen_supplies/storage/b41f32f6d8d757be9e77cf7904a72b34/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81f5046d2bb8c24acec3c5d663018795b71406d66d576d5ab7913f73bf11babf
+size 3770936

dataset/kitchen_supplies/storage/b41f32f6d8d757be9e77cf7904a72b34/drawer_037.urdf

@@ -57,6 +57,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>NO: {"summary":"Major functional parts are merged incorrectly; drawers/handles are not separated from cabinet body.","merge_groups":[]}</PartSegChecker>