Add asset kitchen_supplies/storage/c89e60c1ca4d5a1eab86047164929b1a

.gitattributes

@@ -7165,3 +7165,4 @@ dataset/kitchen_supplies/storage/bebf9a45875550d5abcafeb08554c666/affordance/mes
 dataset/kitchen_supplies/storage/bf0200ad5f3655759c609269e54f729a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/c0c5d9af40b759ab9a54775f21271fd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/c48a197f44a25b2891fadc1f294878e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/c89e60c1ca4d5a1eab86047164929b1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/c89e60c1ca4d5a1eab86047164929b1a/affordance/affordance_annot.json

@@ -0,0 +1,95 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls or top edge of the cabinet body to lift or reposition the small cabinet",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while another gripper opens or closes a drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "support the drawers",
+                "provide the structural frame",
+                "enclose storage volume",
+                "support the top surface",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Main outer cabinet structure with a highly contoured, wavy form, many rounded perforations, and short curved legs; it appears as a smooth rigid body with multicolored pastel-like surfaces visible across the top, sides, and front.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawers",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front or side of an opened drawer to pull it farther out or push it back in",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp the drawer body when removed or partially extended to carry or reinsert it",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "store small items",
+                "slide in and out",
+                "provide access to contents",
+                "organize belongings"
+            ],
+            "semantic_description": "Two shallow drawers fitted into the front openings of the cabinet, each with a wavy front panel and rigid box-like interior; they are visible partially open in some views.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knobs",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a drawer knob to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold a knob lightly to guide the drawer closed",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide a pull point",
+                "enable drawer opening",
+                "assist drawer closing"
+            ],
+            "semantic_description": "Small round knobs centered on the drawer fronts, appearing as tiny gold or brass-colored hardware with a slightly reflective finish.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative openings in cabinet body",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative cutouts",
+                "lighten the visual appearance",
+                "create open perforation details",
+                "add styling to the cabinet"
+            ],
+            "semantic_description": "Rounded and oval perforation openings visible in the top and side areas of the cabinet body, appearing as dark through-holes or recesses within the smooth curved structure.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Knobs and openings mask colors/descriptions mismatch; body description color/material inaccurate."
+    }
+}

dataset/kitchen_supplies/storage/c89e60c1ca4d5a1eab86047164929b1a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df6716a96b28c4716e71fcffbfe27597086416c9bd55a49cdcb17c5d000e0727
+size 3782136

dataset/kitchen_supplies/storage/c89e60c1ca4d5a1eab86047164929b1a/drawer_069.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 and cavity are merged with a side frame color; tiny fragments are noise.","merge_groups":[{"colors":["Red","Orange"],"target_part":"drawer/front assembly","reason":"open drawer and front belong to one moving part"},{"colors":["Navy","Orange"],"target_part":"main body","reason":"small isolated patches are nonfunctional noise"}]}</PartSegChecker>