Add asset kitchen_supplies/storage/c570dc5918355e67ad7bf28771f9551b

.gitattributes

@@ -7164,3 +7164,4 @@ dataset/kitchen_supplies/storage/bd6e0924a106522a99340996d8d0388c/affordance/mes
 dataset/kitchen_supplies/storage/bebf9a45875550d5abcafeb08554c666/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/c570dc5918355e67ad7bf28771f9551b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/c570dc5918355e67ad7bf28771f9551b/affordance/affordance_annot.json

@@ -0,0 +1,110 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body/frame",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls/frame from opposite sides to lift and reposition the small cabinet",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the body/frame to stabilize the cabinet while another gripper pulls the drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide the main structural frame",
+                "support the drawer cavity and opening",
+                "support placement on a surface via the feet",
+                "form the exterior shell"
+            ],
+            "semantic_description": "Large ornate outer cabinet frame with wavy sculpted contours and a layered pastel appearance including pink, lavender, cyan, cream, and green regions, with a smooth matte hard finish and short rounded feet.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower front panel edges to pull the drawer outward",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "push on the front panel to close the drawer",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the front panel to steady the drawer during insertion or removal",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide the decorative drawer face",
+                "transmit pushing and pulling force to the drawer",
+                "help protect stored contents"
+            ],
+            "semantic_description": "Curved decorative lower front panel at the cabinet front, predominantly pastel cyan/teal with cream trim and a small central gold knob, with a smooth matte hard surface and wavy outline.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior/tray",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer tray from the sides when it is pulled open to remove or reinsert it",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "support the underside or inner side walls of the drawer while aligning it with the cabinet opening",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "hold stored contents",
+                "form the internal storage cavity",
+                "slide in and out of the cabinet opening"
+            ],
+            "semantic_description": "Open drawer tray/interior visible in warm yellow-orange wood-like material with a smooth matte finish, forming the inner storage cavity behind the front panel.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel insert",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form a side wall insert",
+                "partially enclose the cabinet side",
+                "add decorative side surfacing"
+            ],
+            "semantic_description": "Large flat side insert panel in muted green, matte and smooth, roughly rectangular with slightly curved boundaries, located centrally on each side within the surrounding wavy frame.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative lower side accent",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative side detailing",
+                "visually accent the lower body side"
+            ],
+            "semantic_description": "Small narrow purple curved accent inset on the lower side of the cabinet body, matte and smooth, appearing decorative rather than a functional rail or handle.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Part-mask identities and color descriptions mismatch; side insert/accent not segmented as claimed."
+    }
+}

dataset/kitchen_supplies/storage/c570dc5918355e67ad7bf28771f9551b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3929d01996a2553985887b6aef6374c5f0026b69f882488f69402245faa92d8
+size 3781844

dataset/kitchen_supplies/storage/c570dc5918355e67ad7bf28771f9551b/drawer_099.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 upper drawer are partly separated, but most cabinet body and legs are merged; handles not isolated.","merge_groups":[]}</PartSegChecker>