Add asset kitchen_supplies/storage/e94d77b1d7f75deaa5a2ed8769b880ad

.gitattributes

@@ -7186,4 +7186,4 @@ dataset/kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799/affordance/mes
 dataset/kitchen_supplies/storage/e6aea63e88ad55c4b7610cf4a80f1296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e6e50774f27a5037bea9dd751726f6fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e720efbfb26852639bcc8e67dec87fa6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/ee0285dd0efc5e1cb8066409e347d179/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/e94d77b1d7f75deaa5a2ed8769b880ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/e94d77b1d7f75deaa5a2ed8769b880ad/affordance/affordance_annot.json

@@ -0,0 +1,80 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet sides to lift or reposition the drawer unit",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the frame to stabilize the unit while opening or closing a drawer",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "support the whole unit",
+                "enclose the drawers",
+                "provide structural rigidity",
+                "provide exterior contact surfaces"
+            ],
+            "semantic_description": "Large light beige wooden outer carcass with a matte smooth finish and hard surface, box-shaped with short legs and occupying the top, sides, back, bottom, and fixed outer structure of the drawer unit.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer assembly",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the open drawer assembly from the front and sides to pull it farther out",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the drawer assembly to remove it from the cabinet slides for access or maintenance",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "provide access to contents",
+                "form the movable drawer structure"
+            ],
+            "semantic_description": "Light beige wooden drawer assemblies with smooth matte surfaces, including the visible drawer fronts and side walls; rectangular parts recessed within the cabinet and extending outward when opened.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "integrated drawer pull recess",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook fingers or a gripper into the recessed pull area to open the drawer",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "use the recessed pull area to push the drawer closed",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "open the drawer",
+                "close the drawer",
+                "mark the access point on the drawer front"
+            ],
+            "semantic_description": "Small integrated recessed handle area on each drawer front, light beige/tan like the rest of the wood, with a smooth matte finish and a shallow curved cutout centered near the top of each drawer face.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer part description is too broad; mask includes all drawers, not only open ones, and pull recess placement/shape is inaccurate."
+    }
+}

dataset/kitchen_supplies/storage/e94d77b1d7f75deaa5a2ed8769b880ad/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c7002ad115a3fdbd2617f8136f8d6a1be0bb48faeec960fb70ff19b62112ab4
+size 3790492

dataset/kitchen_supplies/storage/e94d77b1d7f75deaa5a2ed8769b880ad/drawer_050.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>YES</PartSegChecker>