Add asset kitchen_supplies/storage/e5e9aa856deb5eacaf4fd61bd624ebea

.gitattributes

@@ -7182,4 +7182,4 @@ dataset/kitchen_supplies/storage/dbf281cffa6c59f7915ea82a0f62bc7a/affordance/mes
 dataset/kitchen_supplies/storage/e1fd13a296ad5270a44ef48a5553ca28/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e37331cbd2815179aefe5d9e88afceea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e58d6f20924b51a4a015ca26f8bb3e2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/e5e9aa856deb5eacaf4fd61bd624ebea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/e5e9aa856deb5eacaf4fd61bd624ebea/affordance/affordance_annot.json

@@ -0,0 +1,247 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet side to stabilize or reposition the drawer unit",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the cabinet body while pulling a drawer with the other gripper",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "house the drawers",
+                "provide side surfaces for stabilization",
+                "bear load from stored contents"
+            ],
+            "semantic_description": "Large dark gray cabinet shell with a matte smooth hard finish, forming the tapered outer sides, front frame, lower legs, and main load-bearing structure of the drawer unit.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to lift or reposition the drawer unit",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "press on the top to stabilize the cabinet while operating a drawer",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "provide a flat top surface",
+                "cover the cabinet from above",
+                "support small items",
+                "stiffen the frame"
+            ],
+            "semantic_description": "Broad dark gray top panel with a matte smooth hard surface, flat and slightly overhanging at the top of the cabinet.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet from below",
+                "form the lower structural shelf or base panel",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Dark gray to nearly black recessed lower base panel with a smooth hard finish, visible underneath the cabinet between the legs rather than as a separate removable underside cover.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer front",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom drawer handle or front edge to pull the drawer open",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "open the bottom drawer",
+                "close the bottom drawer",
+                "provide front access surface",
+                "retain contents inside the drawer"
+            ],
+            "semantic_description": "Light natural wood drawer face with visible fine wood grain, a matte smooth hard surface, and a wide rectangular shape at the lowest front of the unit.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer front",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle drawer handle or front edge to pull the drawer open",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "open the middle drawer",
+                "close the middle drawer",
+                "provide front access surface",
+                "retain contents inside the drawer"
+            ],
+            "semantic_description": "Light natural wood drawer face with subtle grain, a matte smooth hard finish, and a wide rectangular front centered in the middle of the cabinet.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer front",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top drawer handle or front edge to pull the drawer open",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "open the top drawer",
+                "close the top drawer",
+                "provide front access surface",
+                "retain contents inside the drawer"
+            ],
+            "semantic_description": "Light natural wood drawer face with a matte smooth hard surface and visible grain, mounted at the upper front below the top panel.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer handles",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a drawer handle to pull that drawer open",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold a drawer handle to guide the drawer closed gently",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "provide a pull grip",
+                "open a drawer",
+                "guide drawer motion",
+                "keep fingers off the drawer face"
+            ],
+            "semantic_description": "Small rectangular light wood pulls with a smooth hard matte finish, mounted horizontally near the center of each drawer front and slightly protruding.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer rail",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer sliding",
+                "support drawer alignment",
+                "reduce lateral wobble",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Slim dark metal-looking slide rails mounted along the drawer sides inside the cabinet, visible when drawers are open.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer tray base",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold stored items",
+                "provide interior support surface",
+                "form the drawer bottom"
+            ],
+            "semantic_description": "Flat brown interior drawer base with a smooth hard finish, broad and shallow, forming the floor of each drawer.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side wall",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side wall of an open drawer to remove or reposition the drawer during servicing",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold the drawer side to stabilize it while aligning rails",
+                    "confidence": 0.47
+                }
+            ],
+            "functional_labels": [
+                "contain items laterally",
+                "form the drawer box",
+                "support drawer structure",
+                "keep contents from falling sideways"
+            ],
+            "semantic_description": "Light wood side wall of the drawer box with a matte smooth hard surface and visible grain, running along the drawer interior sides.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer side support",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the lower side of the drawer box",
+                "stiffen the drawer side structure",
+                "connect side wall to lower drawer area"
+            ],
+            "semantic_description": "Small wood support strip near the lower side region of the drawer assembly, partially occluded and only visible in side views.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front vertical trim",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce front edge",
+                "protect cabinet corner",
+                "define front opening boundary"
+            ],
+            "semantic_description": "Narrow dark gray vertical front-edge strip with a matte smooth hard finish, running along the cabinet front corners beside the drawers.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part labels/descriptions mismatch masks and visible geometry; unsupported parts like separate trim/support are incorrectly annotated."
+    }
+}

dataset/kitchen_supplies/storage/e5e9aa856deb5eacaf4fd61bd624ebea/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b68341a6a7faef34eb3ea7d01a4cca01dee4f2f58f5ee1f76ffd79dfdb285fda
+size 3799784

dataset/kitchen_supplies/storage/e5e9aa856deb5eacaf4fd61bd624ebea/drawer_056.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>