Add asset kitchen_supplies/storage/bb5190ffba405118bd7de95dd7a2c945

.gitattributes

@@ -7157,4 +7157,4 @@ dataset/kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173/affordance/mes
 dataset/kitchen_supplies/storage/b138efeab8795782be4d598d05695934/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/b3565798b8c158c38a1eafbb010137df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/b64787adb7395bf480a3a44914cab9a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/bb5190ffba405118bd7de95dd7a2c945/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/bb5190ffba405118bd7de95dd7a2c945/affordance/affordance_annot.json

@@ -0,0 +1,126 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side of the cabinet body to lift or reposition the nightstand",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening a drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "support the structure",
+                "enclose the drawers",
+                "provide side and top surfaces",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large light beige wooden outer carcass with a matte finish and visible wood grain, forming the top, side panels, back-facing body surfaces, and structural shell of the small two-drawer nightstand.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer front and lower base trim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top drawer front area to pull the upper drawer open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push on the top drawer front to close the upper drawer",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the lower front trim or foot area to steady the unit during manipulation",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "provide the front face of the top drawer",
+                "allow pushing or pulling of the upper drawer",
+                "form the front base trim",
+                "support the cabinet at the bottom front"
+            ],
+            "semantic_description": "Light beige wood with a matte finish and visible grain, covering the full upper drawer front and the shaped lower front apron and feet at the base.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer front to pull the bottom drawer open",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "push on the lower drawer front to close the bottom drawer",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "close the lower drawer opening",
+                "retain stored items in the lower drawer",
+                "provide a front contact surface",
+                "define the front of the lower drawer"
+            ],
+            "semantic_description": "Rectangular light beige wooden lower drawer face with a matte finish and subtle wood grain, located beneath the top drawer on the front of the nightstand.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet interior side panel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the inner wall of the cabinet opening",
+                "bound the drawer cavity",
+                "provide mounting surface adjacent to the drawer slides"
+            ],
+            "semantic_description": "Narrow light beige to tan interior side surface visible only when the upper drawer is open, running vertically inside the cabinet beside the drawer.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain small items",
+                "provide storage space",
+                "support drawer contents"
+            ],
+            "semantic_description": "Dark brown drawer interior cavity with a matte finish and flat wooden surfaces, recessed inside the opened drawer and sized for small bedside items.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding action",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Narrow metallic slide rail with a slightly reflective pale metal finish, mounted along the drawer side inside the cabinet and visible when a drawer is open.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color part identities are wrong: yellow combines top drawer and base, orange is drawer side not cabinet interior, navy is drawer knob not slide rail."
+    }
+}

dataset/kitchen_supplies/storage/bb5190ffba405118bd7de95dd7a2c945/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83ffee7930ab46af53f38c8048a84bc1c9886d1d69a137dccb0d972dc2dcd179
+size 3812036

dataset/kitchen_supplies/storage/bb5190ffba405118bd7de95dd7a2c945/drawer_034.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>NO: {"summary":"Main body and drawers are inconsistently split/merged; front structure uses multiple colors for same cabinet body surfaces.","merge_groups":[{"colors":["Green","Orange"],"target_part":"drawer front/body front surfaces","reason":"same front structure split without clear functional boundary"},{"colors":["Yellow","Teal"],"target_part":"cabinet main body","reason":"outer carcass and top/side surfaces are one body part"}]}</PartSegChecker>