Add asset kitchen_supplies/storage/8be91acf0f645f0d94a5ac4ef4dd5c04

.gitattributes

@@ -7132,3 +7132,4 @@ dataset/kitchen_supplies/storage/85a077f86d465b3db922fe5120cbbcd7/affordance/mes
 dataset/kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/8be91acf0f645f0d94a5ac4ef4dd5c04/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/8be91acf0f645f0d94a5ac4ef4dd5c04/affordance/affordance_annot.json

@@ -0,0 +1,261 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side panels to lift or reposition the small drawer cabinet",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the cabinet frame to stabilize it while opening or closing drawers",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "support the drawers",
+                "provide structural enclosure",
+                "stabilize the furniture",
+                "protect drawer contents"
+            ],
+            "semantic_description": "Large dark blue-gray outer shell with smooth matte surfaces and angled side panels, forming the sides, top, and back structure of the small drawer cabinet.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer front",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top drawer front cutout area to pull the top drawer open",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "push on the top drawer front to close it",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "close the top drawer",
+                "provide a pull surface",
+                "cover stored contents",
+                "identify the top compartment"
+            ],
+            "semantic_description": "Light natural wood top drawer face with a smooth matte finish, rectangular shape, and a wavy curved cutout along the upper edge.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer knob",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small round knob to open the top drawer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide the top drawer closed",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a precision grip",
+                "pull the top drawer",
+                "push the top drawer closed",
+                "indicate drawer center"
+            ],
+            "semantic_description": "Small round dark knob centered on the top drawer front.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer front",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper cutout area of the middle drawer front to pull the drawer open",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "push on the middle drawer front to close it",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "close the middle drawer",
+                "provide a pull surface",
+                "cover stored contents",
+                "identify the middle compartment"
+            ],
+            "semantic_description": "Drawer face with mixed light-colored decorative sections, including cream/white areas and a small round knob near the center-right, with a semicircular cutout along its upper edge.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer interior",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the opened middle drawer to steady it while loading contents",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the open middle drawer body while sliding it in or out",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "contain small items",
+                "provide storage volume",
+                "support stored contents",
+                "slide with the drawer front"
+            ],
+            "semantic_description": "Open interior of the middle drawer with brown inner surfaces, forming a shallow rectangular storage tray behind the middle drawer front.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer front",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom drawer front edge to pull the drawer open",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "push on the bottom drawer front to close it",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "close the bottom drawer",
+                "provide a pull surface",
+                "cover stored contents",
+                "identify the lowest compartment"
+            ],
+            "semantic_description": "Decorative bottom drawer front with dark blue, tan, and white panel sections plus a small round light knob, smooth finish, and broad rectangular form.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer tray",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sides of the open bottom drawer tray to slide or reposition it",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold the bottom drawer tray while loading or unloading contents",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support contents",
+                "provide deep storage",
+                "slide out for access"
+            ],
+            "semantic_description": "Large open bottom drawer basin with brown inner surfaces and a deep rectangular tray shape extending from the lowest compartment.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer runners",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding movement",
+                "align drawers",
+                "reduce wobble"
+            ],
+            "semantic_description": "Thin brown rail-like strips mounted along the cabinet interior sides, forming narrow supports for drawer sliding.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small side support piece",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the frame",
+                "support drawer alignment",
+                "connect front and side structure"
+            ],
+            "semantic_description": "Small pale wood vertical side support near the front upper side of the cabinet opening, with a smooth matte surface and narrow rectangular form.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front leg",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the body off the floor",
+                "stabilize the base"
+            ],
+            "semantic_description": "Small light wood angled front leg at the lower corner of the cabinet, with a smooth matte finish and tapered shape.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner upper panel",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate compartments",
+                "support the top drawer cavity",
+                "stiffen the frame"
+            ],
+            "semantic_description": "Small interior panel located behind the top drawer opening near the upper front interior, with a flat smooth surface.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower support panel",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the bottom drawer",
+                "separate storage levels",
+                "stiffen the lower frame"
+            ],
+            "semantic_description": "Flat interior support panel beneath the middle section and above the bottom drawer, visible as a horizontal structural surface inside the cabinet.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel insert",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form part of the lower side wall",
+                "help enclose the bottom compartment",
+                "provide minor side protection"
+            ],
+            "semantic_description": "Green-colored side wall section visible on the lower side of the cabinet near the front, with a smooth flat rectangular surface.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and descriptions mismatch masks/RGB; top drawer has no knob, colors/materials wrong, and side insert description uses mask color as real color."
+    }
+}

dataset/kitchen_supplies/storage/8be91acf0f645f0d94a5ac4ef4dd5c04/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddd8c6a0d9f71d8d6ea56286d0c9b61f810795aef2008418ed5adafe1b203783
+size 3796640

dataset/kitchen_supplies/storage/8be91acf0f645f0d94a5ac4ef4dd5c04/drawer_085.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>