Add asset kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a

.gitattributes

@@ -7105,4 +7105,4 @@ dataset/kitchen_supplies/storage/43c17b23eee7581a8a7553bee5af277a/affordance/mes
 dataset/kitchen_supplies/storage/40e052a4e3fe5933b2929546a57be005/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/47e22f52962d5f55b4dd170f09ac3417/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/4c8a72daf0b55301a0ca5ff5c46f3b62/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/47fd24c169725c2fa5c4150eb00dec1a/affordance/affordance_annot.json

@@ -0,0 +1,169 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side of the cabinet body to lift or reposition the small drawer unit",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "main structure",
+                "support drawers",
+                "enclose drawer cavity",
+                "provide side support",
+                "stabilize the unit"
+            ],
+            "semantic_description": "Large taupe-brown wooden cabinet shell with a matte smooth finish and subtle wood grain, forming the top, sides, and back of the drawer unit.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front edge to pull the drawer open when the handle is missed or inaccessible",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "close drawer opening",
+                "provide pulling surface",
+                "provide pushing surface",
+                "cover drawer contents"
+            ],
+            "semantic_description": "Flat off-white to cream rectangular drawer front panels with a matte smooth finish, mounted on the front of each drawer and carrying the handles.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain stored items",
+                "provide storage cavity",
+                "support contents"
+            ],
+            "semantic_description": "Rectangular warm wood-toned interior tray surfaces with a smooth matte finish inside each drawer, appearing flat and recessed within the cabinet.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer side panel to pull an already open drawer farther out",
+                    "confidence": 0.4
+                },
+                {
+                    "scenario": "hold the drawer side panel to stabilize the drawer during removal or maintenance",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "form drawer wall",
+                "support drawer contents",
+                "connect front to back"
+            ],
+            "semantic_description": "Narrow light wood side wall of the drawer with a matte smooth finish and visible wood grain, located along the drawer's lateral edge.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding movement",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Thin dark metal slide hardware mounted beside the drawer, with a smooth hard finish and elongated linear shape.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer handle",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pull a drawer open",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to control the drawer while closing",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide handhold",
+                "pull drawer open",
+                "control drawer motion"
+            ],
+            "semantic_description": "Small horizontal gold-toned metal pull handle with a smooth slightly reflective finish, centered on each drawer front and sized for fingertip or gripper hooking.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to help lift or reposition the small drawer unit",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold a leg to stabilize the cabinet during manipulation",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "support furniture",
+                "elevate cabinet",
+                "provide floor contact",
+                "stabilize the unit"
+            ],
+            "semantic_description": "Short rounded tapering brown wooden leg with a smooth matte finish and stubby conical form at the cabinet corners.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer bottom panel",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form drawer base",
+                "support drawer contents",
+                "connect drawer sides"
+            ],
+            "semantic_description": "Thin dark metal strip or rail-like component visible along the lower edge beneath the drawer opening, appearing as a narrow linear element rather than the main wooden drawer floor.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "drawer bottom panel mislabeled and described as rail; several mask-color/part mappings are inconsistent with visible segmented parts"
+    }
+}

dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec7c3bb409facffaa065834b4d239722ec68c403396743c34913f450bacad321
+size 3794544

dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/drawer_060.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>