Add asset kitchen_supplies/storage/5cff10b0d41054db9d2684471d67830c

.gitattributes

@@ -7113,3 +7113,4 @@ dataset/kitchen_supplies/storage/52bc7476808253dbab92ecb1d856469f/affordance/mes
 dataset/kitchen_supplies/storage/5319f13f6c135065ae03fdf7b89f1ecf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/55d1d8d0bfbf584ca54fd029d8a98472/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/5c254255e9685a08934931ce263faa42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/5cff10b0d41054db9d2684471d67830c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/5cff10b0d41054db9d2684471d67830c/affordance/affordance_annot.json

@@ -0,0 +1,119 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer body to lift or reposition the small drawer unit",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the side of the body to stabilize the unit while opening a drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawers",
+                "support the structure",
+                "provide external housing",
+                "stabilize the furniture unit"
+            ],
+            "semantic_description": "Large light aqua-blue outer shell with a smooth matte finish and rounded, blob-like contours, forming the main housing around the two drawers.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts with knobs",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the round knob or front edge to pull a drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the front to steady a partially opened drawer",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "close the front of each drawer",
+                "provide access to contents",
+                "cover the drawer openings",
+                "provide a pulling surface and knob for opening the drawers"
+            ],
+            "semantic_description": "Two flat pastel drawer front panels on the front of the cabinet, the upper one pink and the lower one pale yellow, each with a smooth matte surface and a small round central knob of matching color.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer trays",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sides of an opened drawer tray to pull it farther out or reposition it",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the open tray while placing or removing items inside",
+                    "confidence": 0.59
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "provide storage cavities",
+                "support contents"
+            ],
+            "semantic_description": "Shallow rectangular drawer boxes with pinkish-brown interiors and smooth hard surfaces, located behind the front panels inside the cabinet body.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feet",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "briefly grip a foot as a secondary stabilizing point during repositioning",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "support the unit",
+                "raise the body off the surface",
+                "improve stability",
+                "contact the floor"
+            ],
+            "semantic_description": "Small rounded stubby feet at the bottom of the cabinet, colored aqua-blue like the body, with a smooth matte finish.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side rails",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding movement",
+                "align the drawers",
+                "connect the drawer trays to the cabinet body"
+            ],
+            "semantic_description": "Thin narrow side guide strips visible along the sides of the opened drawers near the cabinet opening, appearing as small orange-brown rail-like elements that help the drawers slide.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer side rails color/identity and body graspability are inaccurate; drawer material descriptions also mismatched."
+    }
+}

dataset/kitchen_supplies/storage/5cff10b0d41054db9d2684471d67830c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42a92be8dfb9556c6f723b95ff0880bfc3ab6cde281608cc100057b9e695f625
+size 3790336

dataset/kitchen_supplies/storage/5cff10b0d41054db9d2684471d67830c/drawer_090.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>YES</PartSegChecker>