Add asset kitchen_supplies/storage/d95ce81b5b9a53f281612b5d2f307670

.gitattributes

@@ -7176,3 +7176,4 @@ dataset/kitchen_supplies/storage/d5c35bb084c45341a5a16e0923d006af/affordance/mes
 dataset/kitchen_supplies/storage/d6b6fc35ed3a5300a0c11fe8f43880d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d6f48d0e7ff355f285a4e5cee940d346/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d88fb5e4daad557f93ed4eb9c810fc2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d95ce81b5b9a53f281612b5d2f307670/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/d95ce81b5b9a53f281612b5d2f307670/affordance/affordance_annot.json

@@ -0,0 +1,56 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer cabinet sides/body to lift or reposition the small drawer unit",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the outer frame to stabilize the furniture while opening or closing the drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "enclose the drawer cavity",
+                "provide external grasp surfaces",
+                "support the unit on its feet/base"
+            ],
+            "semantic_description": "Large ornate outer cabinet body with layered pastel rainbow-colored wood bands, mostly matte finish, hard smooth surface, and a thick wavy sculpted form around the drawer opening, extending into curved sides and short rounded feet/base elements.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front and upper opening trim",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front edge or knob area to pull the drawer open or push it closed",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the front panel while aligning the drawer during reinsertion",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide the front face for operating the drawer",
+                "cover the drawer opening when closed",
+                "support drawer pull hardware",
+                "frame the visible opening above the lower drawer front"
+            ],
+            "semantic_description": "Visible front-facing drawer area in light wood and painted pastel tones, including the small horizontal front sections around the opening; smooth matte finish, flat rectangular surfaces, located at the front of the cabinet where the drawer is accessed.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Lime Green part is misidentified; mask marks interior opening/cavity trim, not drawer front. Description and functions mismatch visible part."
+    }
+}

dataset/kitchen_supplies/storage/d95ce81b5b9a53f281612b5d2f307670/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f0a8ae5a47cb04a584b6e179a53c54853e9c61716f6c61d4bc7bd5177e347eb
+size 3774968

dataset/kitchen_supplies/storage/d95ce81b5b9a53f281612b5d2f307670/drawer_081.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":"Interior cavity and drawer front are inconsistently segmented; one color mixes unrelated parts.","merge_groups":[]}</PartSegChecker>