Add asset kitchen_supplies/storage/cde92d407a7256a38adcf8c58476a46b

.gitattributes

@@ -7168,3 +7168,4 @@ dataset/kitchen_supplies/storage/c48a197f44a25b2891fadc1f294878e1/affordance/mes
 dataset/kitchen_supplies/storage/c89e60c1ca4d5a1eab86047164929b1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/c8cd63d9698a586a8602d8872988de9d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/c9c509f9d07f547aafafa14192a9dd5b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/cde92d407a7256a38adcf8c58476a46b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/cde92d407a7256a38adcf8c58476a46b/affordance/affordance_annot.json

@@ -0,0 +1,98 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls to lift or reposition the small drawer unit",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing the drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide main structure",
+                "enclose and support the drawer cavity",
+                "support mounted parts",
+                "stabilize the unit"
+            ],
+            "semantic_description": "Large pastel light-blue outer cabinet shell with a smooth matte finish and wavy curved sides, bordered by pink trim around the edges and front opening.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed sides of the drawer box when it is pulled out to remove or reinsert it",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the drawer box to guide it back into the cabinet opening",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "store small items",
+                "slide in and out",
+                "form the inner storage compartment",
+                "support the drawer front panel"
+            ],
+            "semantic_description": "Pastel pink rectangular drawer box with smooth flat sides, visible when extended from the cabinet interior.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panel and feet/knobs",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the round front knob to pull the drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "push on the drawer front panel to close the drawer",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "briefly grasp one of the rounded feet/side pegs to steady or slightly reposition the lightweight unit",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "provide the drawer face",
+                "close the storage opening",
+                "mount the pulling knob",
+                "support the cabinet off the ground with rounded feet"
+            ],
+            "semantic_description": "Pale lavender drawer front panel with rounded edges and a small pale yellow round knob, plus several small rounded ball-like feet/pegs near the base and sides in pastel yellow to lavender tones.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide/rail",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding travel",
+                "align the drawer during opening and closing"
+            ],
+            "semantic_description": "Thin narrow rail strips visible between the cabinet body and drawer, appearing muted gray-green to metallic along the drawer sides.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Yellow part merges drawer front with feet; drawer front color/identity description is inaccurate."
+    }
+}

dataset/kitchen_supplies/storage/cde92d407a7256a38adcf8c58476a46b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:292353880f49dab2b29cfceb482c5708b6bb1055c216cf02f7c417c2bdd492a4
+size 3784492

dataset/kitchen_supplies/storage/cde92d407a7256a38adcf8c58476a46b/drawer_080.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":"Handle, drawer front, feet, and body are merged inconsistently; key part boundaries are wrong and not fixable by merging alone.","merge_groups":[]}</PartSegChecker>