Add asset kitchen_supplies/storage/c9c509f9d07f547aafafa14192a9dd5b

.gitattributes

@@ -7167,3 +7167,4 @@ dataset/kitchen_supplies/storage/c0c5d9af40b759ab9a54775f21271fd7/affordance/mes
 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/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/c9c509f9d07f547aafafa14192a9dd5b/affordance/affordance_annot.json

@@ -0,0 +1,89 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer body from the sides to lift or reposition the small drawer unit",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the body to stabilize the unit while another gripper opens a drawer",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawers",
+                "support the overall structure",
+                "provide external support surfaces",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large dark blue-gray outer shell with a hard smooth matte-to-satin finish and wavy sculpted sides, forming the main enclosure around the drawers and occupying most of the object.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawers and slide rails",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front or side when extended to pull it farther out",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "push on a drawer front to slide it closed",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "grasp an extended drawer assembly to remove it for access or maintenance",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide in and out",
+                "provide compartment access",
+                "guide drawer motion with rails"
+            ],
+            "semantic_description": "Light brown wooden drawer boxes and fronts with visible wood grain and a smooth satin finish, along with matching side rail structures visible inside the cabinet openings.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pulls and decorative feet",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a drawer pull to open a drawer",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold a drawer pull to control drawer motion while closing",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "lightly contact a foot during careful stabilization of the unit",
+                    "confidence": 0.16
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip for drawers",
+                "enable drawer opening",
+                "assist drawer closing control",
+                "elevate and support the cabinet base",
+                "provide decorative base accents"
+            ],
+            "semantic_description": "Small gold-toned glossy decorative hardware pieces, including rectangular metallic drawer pulls on the drawer fronts and matching ornate pointed feet at the lower corners and base.",
+            "id": 16,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Purple part wrongly includes only drawer fronts/sides, not slide rails; crimson mask includes rails and feet, not drawer pulls alone."
+    }
+}

dataset/kitchen_supplies/storage/c9c509f9d07f547aafafa14192a9dd5b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:432c66434313722502f8322b44a02353696c4e6adf98e1c2dfe1691e558a0603
+size 3786980

dataset/kitchen_supplies/storage/c9c509f9d07f547aafafa14192a9dd5b/drawer_094.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, frame, and decorative feet are mixed across colors; functional parts are not cleanly separated.","merge_groups":[{"colors":["Purple","Crimson"],"target_part":"drawer assembly","reason":"both cover drawer fronts, sides, and slide regions"},{"colors":["Cyan","Crimson"],"target_part":"main body","reason":"crimson appears as small body/foot fragments on cyan"}]}</PartSegChecker>