Add asset kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe

.gitattributes

@@ -7157,3 +7157,4 @@ dataset/kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173/affordance/mes
 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/b64787adb7395bf480a3a44914cab9a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/affordance/affordance_annot.json

@@ -0,0 +1,108 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to lift or reposition the small drawer cabinet",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while another manipulator opens a drawer",
+                    "confidence": 0.65
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "support small items",
+                "stiffen the cabinet frame",
+                "allow overhead stabilization"
+            ],
+            "semantic_description": "Flat off-white top panel with a smooth matte finish, broad rectangular shape, and slight overhang at the cabinet top.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet side panels",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side wall to carry or reposition the drawer cabinet",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold a side panel to stabilize the cabinet during drawer operation",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawer stack",
+                "provide structural support",
+                "form the cabinet body sides",
+                "offer side grasp surfaces"
+            ],
+            "semantic_description": "Large off-white side walls with a smooth matte finish and plain slab-like faces running along the left and right exterior of the cabinet.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts",
+            "mask_color": "Light Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front at its upper cutout to pull a drawer open",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the drawer front to control drawer motion while partially open",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the drawer opening",
+                "transfer pulling force",
+                "provide front-facing contact surface",
+                "close the storage compartment"
+            ],
+            "semantic_description": "Off-white drawer face panels with a smooth matte finish, flat rectangular shape, and integrated recessed pull cutouts on the front, including the larger lower drawer front.",
+            "id": 56,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer/body panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the cabinet from underneath by grasping the lower body edge during lifting",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the lower cabinet area to stabilize it during transport",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "form the lower body section",
+                "support the cabinet structure",
+                "add stability near the base",
+                "connect lower side regions"
+            ],
+            "semantic_description": "Off-white lower cabinet body/base region with a smooth matte finish, visible around the underside and lower perimeter beneath the drawer stack rather than as a separate shelf.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer fronts mask/color and bottom panel identity are incorrect; magenta is base/underside, not drawer/body panel."
+    }
+}

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6b7ef0c681a91e2236b8772521cd1832aa441ed5180d3b7a91bdc0e95cbcc3b
+size 3785156

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/drawer_005.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>9</part_count>
+         <part_count>6</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
                <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":"Drawers and handles are merged into body surfaces; open drawer front/interior also misassigned.","merge_groups":[]}</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Front drawers and body are merged/misassigned; top, side panels, and base are reasonable.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>