Add asset kitchen_supplies/storage/1a05641566185955acebfac0e933b1d0

.gitattributes

@@ -7083,3 +7083,4 @@ dataset/kitchen_supplies/storage/11c6159a45c45413b108c17df7ac97f6/affordance/mes
 dataset/kitchen_supplies/storage/12783012224154238543aeef43392dd2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/1a05641566185955acebfac0e933b1d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/1a05641566185955acebfac0e933b1d0/affordance/affordance_annot.json

@@ -0,0 +1,79 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer sidewalls to lift or reposition the cabinet",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening or closing the drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "enclose the drawer cavity",
+                "provide exterior contact surfaces",
+                "stabilize the furniture body"
+            ],
+            "semantic_description": "Large sculptural cabinet shell with dark gray-blue ribbed exterior sides and top, pale wood-toned inner edges, matte hard finish, and a wavy rounded form surrounding the drawer opening.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front or small pull to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the drawer sides while removed to carry or reinsert it",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "store small items",
+                "slide in and out of the cabinet",
+                "provide access to contents",
+                "close the front opening when shut"
+            ],
+            "semantic_description": "Rectangular wooden drawer with a reddish-brown wood front panel and lighter wood sides/interior, matte smooth hard surface, positioned centrally within the cabinet opening.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feet",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a foot to slightly reposition or steady the cabinet during setup",
+                    "confidence": 0.32
+                },
+                {
+                    "scenario": "hold a foot while turning or inspecting the cabinet upside down",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet above the floor",
+                "provide contact points with the floor",
+                "help stabilize the cabinet stance"
+            ],
+            "semantic_description": "Small short conical feet at the bottom corners, appearing dark gray on some views and light wood-toned on others, with a matte hard smooth finish and rounded pointed tips.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Feet are separate magenta masks, not orange cabinet body; cabinet body should not include feet."
+    }
+}

dataset/kitchen_supplies/storage/1a05641566185955acebfac0e933b1d0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02432246f1224e351943bb5465ed3fa611e1bb972924a22709338f6ca2f493a7
+size 3731608

dataset/kitchen_supplies/storage/1a05641566185955acebfac0e933b1d0/drawer_087.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 interior cavity are merged with unrelated surfaces; pink is noisy fragments.","merge_groups":[{"colors":["Red","Orange"],"target_part":"main body","reason":"Red appears as small leg/noise fragments on body views"},{"colors":["Orange","Pink"],"target_part":"drawer assembly","reason":"Drawer front and interior opening are inconsistently split"}]}</PartSegChecker>