Add asset kitchen_supplies/storage/4ef0585ad3535cc3b10d9df0ae880bda

.gitattributes

@@ -7107,3 +7107,4 @@ dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/affordance/mes
 dataset/kitchen_supplies/storage/47e22f52962d5f55b4dd170f09ac3417/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/4ef0585ad3535cc3b10d9df0ae880bda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/4ef0585ad3535cc3b10d9df0ae880bda/affordance/affordance_annot.json

@@ -0,0 +1,84 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels or lower body to lift or reposition the small cabinet",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "support the drawers",
+                "provide structural enclosure",
+                "stabilize the furniture",
+                "support top surface"
+            ],
+            "semantic_description": "Large off-white painted wooden body with a matte to satin finish, smooth hard surfaces, paneled sides, and a boxy small cabinet form that surrounds the drawers.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panels",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower cutout edge of a drawer front to pull the drawer open",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the drawer front to steady the drawer during manipulation",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide a pulling surface",
+                "provide a pushing surface",
+                "present decorative front face"
+            ],
+            "semantic_description": "Rectangular off-white to cream painted wooden drawer front panels with a smooth finish, semicircular finger cutouts along the top edge, and ornate decorative printed floral patterns in beige, gold, and muted blue tones on the visible fronts.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small round knob to pull a drawer open",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the knob lightly to guide the drawer closed",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide a dedicated grip point",
+                "pull the drawer open",
+                "help guide drawer movement",
+                "serve as decorative hardware"
+            ],
+            "semantic_description": "Small round beige to light wood colored knob with a smooth hard surface, mounted near the center of the lower drawer front as a protruding handle.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer knob part is misidentified; mask color selects drawer fronts/sides, not only the knob."
+    }
+}

dataset/kitchen_supplies/storage/4ef0585ad3535cc3b10d9df0ae880bda/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36ed5a4bcf7c8c1f39e16ed2bd2175a2ccf94e1311cf7a7f2196bf113a138c34
+size 3791892

dataset/kitchen_supplies/storage/4ef0585ad3535cc3b10d9df0ae880bda/drawer_032.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":"Back/side decorative panels are segmented separately from the main cabinet, not by functional parts.","merge_groups":[{"colors":["Magenta","Maroon"],"target_part":"main body","reason":"Panels are fixed cabinet surfaces, same function"},{"colors":["Teal","Maroon"],"target_part":"drawer front region","reason":"Tiny teal strip is nonfunctional fragmentation"}]}</PartSegChecker>