Add asset kitchen_supplies/storage/36806ece9b405dea949484803319227d

.gitattributes

@@ -7098,3 +7098,4 @@ dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/affordance/mes
 dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/320542dd69b3510da19f71b6616f7d81/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/344f4e01ad4a56698c1db06283fdf0a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/36806ece9b405dea949484803319227d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/36806ece9b405dea949484803319227d/affordance/affordance_annot.json

@@ -0,0 +1,75 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side of the cabinet to lift or reposition the drawer unit",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the cabinet frame to stabilize it while opening or closing a drawer",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support the drawer structure",
+                "enclose and guide drawers",
+                "provide overall stability",
+                "serve as a secondary holding surface"
+            ],
+            "semantic_description": "Large wavy outer cabinet body in multicolored layered wood with a matte finish, hard slightly ridged texture, and a thick scalloped form surrounding the drawers and top opening.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back panel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the rear of the cabinet",
+                "provide structural reinforcement",
+                "prevent items from falling out the back",
+                "define the interior boundary"
+            ],
+            "semantic_description": "Broad dark brown wooden rear panel with a matte smooth surface and curvy silhouette, spanning most of the back and sitting recessed inside the wavy cabinet frame.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawers and knobs",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer knob or drawer front to pull a drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold a partially removed drawer to extract or reinsert it",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "pinch a closed drawer front to push it shut",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "store small items",
+                "enable drawer opening",
+                "provide access to contents",
+                "slide in and out for organization"
+            ],
+            "semantic_description": "Multiple small front drawers with round knobs in varied painted wood tones, hard mostly smooth surfaces, and rectangular faces arranged on the cabinet front with one drawer visibly pulled out.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/36806ece9b405dea949484803319227d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:437fc942021bc814379518297dc234cc576a98fbdf6962fe77c0b349b1e8ba51
+size 3821444

dataset/kitchen_supplies/storage/36806ece9b405dea949484803319227d/drawer_078.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":"Drawers are merged together while outer shell and top cavity are split inconsistently; not actionable by merging alone.","merge_groups":[]}</PartSegChecker>