Add asset kitchen_supplies/storage/016fd8ead1a7504ab435e2f5c31d3d6c

.gitattributes

@@ -7063,3 +7063,4 @@ dataset/kitchen_supplies/cutting_tools/f1bb99024a5a565cb72d063643a70f36/affordan
 dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/fe000193da765413a951adb06441f987/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/016fd8ead1a7504ab435e2f5c31d3d6c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/016fd8ead1a7504ab435e2f5c31d3d6c/affordance/affordance_annot.json

@@ -0,0 +1,80 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet body from the sides to lift and move the small drawer unit",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the outer body to stabilize the unit while opening or closing a drawer",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawers",
+                "support the overall structure",
+                "provide exterior support surfaces",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large wavy outer shell of the cabinet, made of stacked layered material with multicolored pastel bands and a mostly matte to satin finish, forming the outer sides, top, bottom, and legs around the drawer area.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "push on a drawer front to slide the drawer closed",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "steady the drawer front while aligning the drawer during opening or closing",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "cover the front of each drawer",
+                "retain stored contents when drawers are closed",
+                "provide the visible face of the drawers",
+                "support the drawer knobs"
+            ],
+            "semantic_description": "Two visible wavy drawer front panels recessed within the cabinet opening, in warm yellow to orange tones with a layered wood-like appearance and smooth satin finish, located on the upper and lower front of the cabinet.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knobs",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a knob to pull its drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold a knob to guide the drawer closed",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a grip point",
+                "pull the drawer open",
+                "guide drawer motion",
+                "indicate drawer position"
+            ],
+            "semantic_description": "Small round protruding knobs on the visible drawer fronts, appearing tan to light brown with a smooth hard finish, compact and centered on the upper and lower drawers.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Yellow mask is one cabinet opening/interior area, not separate drawer fronts; fronts description and functions are incorrect."
+    }
+}

dataset/kitchen_supplies/storage/016fd8ead1a7504ab435e2f5c31d3d6c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f821584a37a232598e075f32012710526349e5bb93a413b3ad5f24296b0483b
+size 3778620

dataset/kitchen_supplies/storage/016fd8ead1a7504ab435e2f5c31d3d6c/drawer_079.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 and legs are merged into the main body; missing clear functional part separation cannot be fixed by merging.","merge_groups":[]}</PartSegChecker>