Add asset kitchen_supplies/storage/6a3cf6305a735f5fb53ff7314990d367

.gitattributes

@@ -7120,4 +7120,4 @@ dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/affordance/mes
 dataset/kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/66770776e1eb520aa3bad12bea89a410/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/675944c7bf825c6e9cebaa8320bf0e83/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/6aaab07108f85eaebec1e26588ce35a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/6a3cf6305a735f5fb53ff7314990d367/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/6a3cf6305a735f5fb53ff7314990d367/affordance/affordance_annot.json

@@ -0,0 +1,92 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer body from the sides to lift and reposition the cabinet",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the body to stabilize it while another gripper opens or closes the drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the drawer assembly",
+                "enclose the storage space",
+                "provide structural frame",
+                "stabilize during drawer motion"
+            ],
+            "semantic_description": "Large white outer shell with a smooth matte finish and rounded wavy contour, forming the sides, top, and front surround of the drawer unit.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer assembly",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front area to pull the drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the drawer front area to push the drawer closed",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the drawer sides when fully open to align or remove it from the rails",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide in and out",
+                "provide access to contents",
+                "present the pull area on the front"
+            ],
+            "semantic_description": "Medium-sized drawer assembly with light wood side walls and interior, a white curved front panel, and a small gold-tone horizontal handle near the center of the front. It has smooth hard surfaces and a rectangular tray-like shape that moves within the cabinet opening.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_16": {
+                    "confidence": 0.7721765637397766,
+                    "position": [
+                        0.2866131844930351,
+                        0.03381323232315481,
+                        -0.09613911935593933
+                    ],
+                    "orientation": {
+                        "w": 0.6857304003229644,
+                        "xyz": [
+                            -0.0732664309922413,
+                            -0.7239620559516697,
+                            -0.016875713460412282
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide linear motion",
+                "support drawer travel",
+                "reduce wobble",
+                "connect drawer to cabinet body"
+            ],
+            "semantic_description": "Thin dark metal telescoping rail with a slightly reflective hard surface, mounted along the drawer side near the cabinet interior and visible as a narrow mechanical track.",
+            "id": 16,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green part is drawer body only; annotation wrongly includes gold handle in drawer assembly description and function."
+    }
+}

dataset/kitchen_supplies/storage/6a3cf6305a735f5fb53ff7314990d367/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c62597b3afaae7fa88f706ea08fb44d5e6fbc357890b7f2d9003a479d4372ad
+size 3784368

dataset/kitchen_supplies/storage/6a3cf6305a735f5fb53ff7314990d367/drawer_093.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 front, inner box, and interior are merged; only tiny rail fragments are separable by merging.","merge_groups":[{"colors":["Magenta","Crimson"],"target_part":"drawer slide/rail","reason":"both are tiny fragments of the same rail"}]}</PartSegChecker>