Add asset kitchen_supplies/storage/41eeda1a12655b849faf0887f8c36990

.gitattributes

@@ -7101,3 +7101,4 @@ dataset/kitchen_supplies/storage/344f4e01ad4a56698c1db06283fdf0a3/affordance/mes
 dataset/kitchen_supplies/storage/3626aca4a3185315a8ea69f3d310af85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/37c9c9934b795722981ad10f0493505d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/3a65da1b2d1b534d8cfd688c0b0b300c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/41eeda1a12655b849faf0887f8c36990/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/41eeda1a12655b849faf0887f8c36990/affordance/affordance_annot.json

@@ -0,0 +1,98 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side of the cabinet body to lift or reposition the small drawer unit",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the structure",
+                "enclose the drawer compartments",
+                "provide side surfaces for stabilization",
+                "bear load from the top and drawers"
+            ],
+            "semantic_description": "Large cream to off-white painted wooden body with a matte finish, visible wood grain on the paneled side faces, forming the main outer frame, base, and feet of the cabinet.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer front or side to pull the drawer open",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "push on the drawer front to close it",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the extended drawer to guide or stabilize it during manipulation",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "store small items",
+                "slide in and out of the cabinet",
+                "provide access to contents",
+                "close the front opening of the compartment"
+            ],
+            "semantic_description": "Cream to off-white painted wooden drawer assembly with a rectangular front face and box body extending inward, matte finish with visible wood grain, located in the cabinet front openings.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide/runner area",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support the drawer while sliding",
+                "connect the drawer to the cabinet"
+            ],
+            "semantic_description": "Small narrow orange-masked regions near the upper side edges of the drawer opening, corresponding to the drawer side or slide/runner attachment area rather than the round front knob.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite edges of the top panel to lift or reposition the cabinet",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the top panel to steady the cabinet during drawer operation",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "support placed items",
+                "cover the cabinet top",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Flat cream to off-white painted wooden top panel with a matte finish, broad rectangular shape, and a slight overhang above the cabinet body.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Purple part is drawers only, but front knob is omitted and orange part is misidentified as slide area."
+    }
+}

dataset/kitchen_supplies/storage/41eeda1a12655b849faf0887f8c36990/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b5049955d1518753e07e964198d01446f75e586958cca5b45cb735edbd34ded
+size 3790040

dataset/kitchen_supplies/storage/41eeda1a12655b849faf0887f8c36990/drawer_044.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":"Drawer fronts are merged with cabinet body; segmentation misses distinct functional drawer parts.","merge_groups":[]}</PartSegChecker>