Add asset kitchen_supplies/storage/776905d3fb645578925e5f9a9e8bdf3a

.gitattributes

@@ -7123,4 +7123,4 @@ dataset/kitchen_supplies/storage/675944c7bf825c6e9cebaa8320bf0e83/affordance/mes
 dataset/kitchen_supplies/storage/6a3cf6305a735f5fb53ff7314990d367/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6b2557f9d983552892ff96d9fa3dd3ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/7329ff3f392956b4961bac96afe80c6e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/771cbad4fd0551458a1ed0df23fe9d2a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/776905d3fb645578925e5f9a9e8bdf3a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/776905d3fb645578925e5f9a9e8bdf3a/affordance/affordance_annot.json

@@ -0,0 +1,174 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet shell",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer sidewalls to lift or reposition the drawer unit",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening a drawer",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawers",
+                "support the structure",
+                "provide external support surfaces",
+                "stabilize the unit"
+            ],
+            "semantic_description": "Large wavy white outer cabinet with a hard smooth painted finish, broad side and top surfaces, and a sculpted profile that surrounds and supports the drawers.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panels",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front to pull the drawer open",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the front panel to steady a partially removed drawer",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "close the front of each drawer",
+                "provide a pulling surface",
+                "allow pushing drawers shut",
+                "present the visible drawer face"
+            ],
+            "semantic_description": "Three drawer faces on the cabinet front with smooth painted surfaces and slightly curved fronts; the upper drawer front is light wood-toned while the middle and lower fronts are white, each with a small centered gold-toned handle.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer box from the sides when the drawer is removed for transport",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the drawer interior or rim to reinsert and align the drawer",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "support drawer contents",
+                "provide internal storage volume"
+            ],
+            "semantic_description": "Light wood drawer boxes and interior panels with a matte smooth finish and visible fine wood grain, rectangular and medium-sized behind the front panels.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pull handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the handle to pull a drawer open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the handle to control drawer motion while closing",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide a grip point",
+                "pull the drawer open",
+                "control drawer movement",
+                "indicate drawer center"
+            ],
+            "semantic_description": "Small centered gold-toned metal bar handles with a smooth slightly reflective finish and narrow rectangular shape mounted on the drawer fronts.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding travel",
+                "align the drawer",
+                "reduce lateral wobble"
+            ],
+            "semantic_description": "Slim dark gray metal runner rails with a hard smooth semi-reflective finish, mounted along the drawer sides inside the cabinet and visible when drawers are open.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear side support panel",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet frame",
+                "reinforce the rear upper corner",
+                "help locate drawer rails"
+            ],
+            "semantic_description": "Small light wood structural panel with a matte smooth finish and subtle wood grain, tucked near the rear upper side of the cabinet behind the open drawers.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "place fingers on the top surface edge to steady the cabinet during drawer operation",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "grasp the top rim area together with a sidewall when lifting the unit",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "support placed objects",
+                "form the cabinet's top"
+            ],
+            "semantic_description": "Flat exposed top surface in light wood with a matte smooth finish and visible wood grain, inset within the wavy white cabinet rim.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "legs",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "elevate the cabinet",
+                "support weight",
+                "stabilize on the floor"
+            ],
+            "semantic_description": "Short tapered wooden legs with a smooth matte finish and rounded pointed form, located at the cabinet corners to raise the body above the floor.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer front colors/types mismatched; legs share green mask with shell, so separate part annotation is invalid."
+    }
+}

dataset/kitchen_supplies/storage/776905d3fb645578925e5f9a9e8bdf3a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e8b8bd99e25df352e78b5ed9925ab44306e1e0084b59ae4e6658bdfb72003c
+size 3787772

dataset/kitchen_supplies/storage/776905d3fb645578925e5f9a9e8bdf3a/drawer_101.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":"Segmentation merges different drawers and over-fragments minor front/interior pieces; not actionable by merges alone.","merge_groups":[{"colors":["Red","Yellow"],"target_part":"top drawer interior/front details","reason":"small adjacent fragments of same drawer area"},{"colors":["Blue","Pink"],"target_part":"lower drawer front assembly","reason":"adjacent drawer-front regions split without functional difference"}]}</PartSegChecker>