Add asset kitchen_supplies/storage/52bc7476808253dbab92ecb1d856469f

.gitattributes

@@ -7109,3 +7109,4 @@ dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/affordance/mes
 dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/4ef0585ad3535cc3b10d9df0ae880bda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/529a38be95275c82bcbab6b941208a70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/52bc7476808253dbab92ecb1d856469f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/52bc7476808253dbab92ecb1d856469f/affordance/affordance_annot.json

@@ -0,0 +1,200 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet body from the sides to lift or reposition the drawer unit",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing drawers",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "support the drawer assembly",
+                "enclose drawer compartments",
+                "provide structural frame",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large blue-gray painted wooden outer shell with a matte smooth finish, hard flat surfaces, and a tapered rectangular form making up the top and side structure.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base and feet",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the unit from the underside while lifting or carrying",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "briefly hold a foot or lower edge as a secondary stabilizing contact while repositioning the cabinet",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet off the floor",
+                "provide ground clearance",
+                "stabilize the base",
+                "distribute load through the lower structure"
+            ],
+            "semantic_description": "Reddish-brown underside/base panel with four short tapered light wood feet at the corners, all at the bottom of the cabinet with smooth hard surfaces.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer front",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top drawer front to pull the top drawer open when the knob is missed or unavailable",
+                    "confidence": 0.48
+                },
+                {
+                    "scenario": "push on the top drawer front to close the top drawer",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "close the top drawer opening",
+                "provide a pulling surface",
+                "provide a pushing surface",
+                "form the front face of the top drawer"
+            ],
+            "semantic_description": "Small muted gray painted wooden drawer face with a matte smooth finish, hard flat rectangular shape, located at the top front with a central round knob visible on it.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer front",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle drawer front to pull the middle drawer open",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "push on the middle drawer front to close the middle drawer",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "close the middle drawer opening",
+                "provide a pulling surface",
+                "provide a pushing surface",
+                "form the front face of the middle drawer"
+            ],
+            "semantic_description": "Medium gray painted wooden drawer face with a matte smooth finish, hard flat rectangular shape, positioned at the middle front with a central round knob visible on it.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer front",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom drawer front to pull the large drawer open",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "push on the bottom drawer front to close the large drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "close the bottom drawer opening",
+                "provide a pulling surface",
+                "provide a pushing surface",
+                "form the front face of the largest drawer"
+            ],
+            "semantic_description": "Large light wood drawer face with visible wood grain, a matte smooth hard surface, and a broad rectangular shape at the bottom front with a central round knob.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer box",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top drawer box from the side or rim when removing the drawer from the cabinet",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the drawer box to align it with the slides during reinsertion",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain small items",
+                "slide in and out for access",
+                "support stored contents",
+                "connect to drawer slides"
+            ],
+            "semantic_description": "Shallow light tan wooden drawer box with a matte smooth finish, hard flat interior surfaces, and a rectangular open-top form seated in the top compartment.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer box",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle drawer box from the side when removing or servicing the drawer",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the drawer box to guide it along the runners",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide out for access",
+                "support drawer contents",
+                "connect to drawer slides"
+            ],
+            "semantic_description": "Medium-depth wooden drawer box with brown interior surfaces, a matte smooth hard finish, and a rectangular open-top shape located in the middle compartment.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer box",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the large bottom drawer box from its side walls to remove it fully",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the drawer box to carry or align it during reinsertion",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain larger items",
+                "slide out for access",
+                "support stored contents",
+                "connect to drawer slides"
+            ],
+            "semantic_description": "Large wooden drawer box with brown interior panels, matte smooth hard surfaces, and a deep rectangular open-top shape occupying the bottom compartment.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer-front colors and base color descriptions mismatch visible RGB appearance; some part names are overly broad for selected masks."
+    }
+}

dataset/kitchen_supplies/storage/52bc7476808253dbab92ecb1d856469f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccff6d63e427c67f7d8afd34b52ea800405714b29ff24741aa8b8ca98380cf78
+size 3787112

dataset/kitchen_supplies/storage/52bc7476808253dbab92ecb1d856469f/drawer_092.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>