Add asset kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4

.gitattributes

@@ -7095,4 +7095,4 @@ dataset/kitchen_supplies/storage/29e11614a08958659433c8b08b3d8e63/affordance/mes
 dataset/kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/2e628a32ac405a1bb0eadbe36c065229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/3204c3abe1ba540da7e2afd9ba47600a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/affordance/affordance_annot.json

@@ -0,0 +1,235 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the cabinet to lift or reposition the whole drawer unit",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the frame to stabilize the cabinet while another gripper opens a drawer",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "support the drawers",
+                "provide structural enclosure",
+                "stabilize the cabinet",
+                "bear load from stored items"
+            ],
+            "semantic_description": "Large dark gray cabinet body with a matte finish, flat side panels, open front, and four short tapered legs forming the main structure around the drawers.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer front",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the semicircular cutout on the top drawer front to open the top drawer",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "push on the drawer front to close the top drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "open the top drawer",
+                "close the top drawer",
+                "provide access to storage",
+                "serve as pull surface"
+            ],
+            "semantic_description": "Small upper drawer face with a white outer frame and peach or light wood slatted center panel, rectangular, with a centered semicircular pull cutout near the top edge.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "second drawer front",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the semicircular cutout on the second drawer front to open the drawer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "push on the drawer front to close the second drawer",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "open the second drawer",
+                "close the second drawer",
+                "provide access to storage",
+                "serve as pull surface"
+            ],
+            "semantic_description": "Drawer face with a white border and muted blue center panel, smooth finish, rectangular form, and a centered semicircular pull cutout near the lower edge.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_11": {
+                    "confidence": 0.5180713534355164,
+                    "position": [
+                        0.1391320899128914,
+                        0.15556648466736078,
+                        0.16352469101548195
+                    ],
+                    "orientation": {
+                        "w": 0.08540057257860846,
+                        "xyz": [
+                            -0.025671320698255118,
+                            0.9321559439273088,
+                            -0.35090315145042655
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "third drawer front",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the semicircular cutout on the third drawer front to open the drawer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "push on the drawer front to close the third drawer",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "open the third drawer",
+                "close the third drawer",
+                "provide access to storage",
+                "serve as pull surface"
+            ],
+            "semantic_description": "Drawer face with a white border and light vertically striped center panel, smooth finish, rectangular shape, and a centered semicircular pull cutout near the top edge.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer front",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the semicircular cutout on the bottom drawer front to open the bottom drawer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "push on the drawer front to close the bottom drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "open the bottom drawer",
+                "close the bottom drawer",
+                "provide access to storage",
+                "serve as pull surface"
+            ],
+            "semantic_description": "Bottom drawer face in dark brown wood with visible grain, broad rectangular shape, and a centered semicircular pull cutout near the top edge.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panels",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain stored items",
+                "form drawer walls",
+                "support drawer contents laterally"
+            ],
+            "semantic_description": "Light cream or pale beige drawer side walls visible when drawers are open, with smooth flat rectangular surfaces running front to back.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior base",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items",
+                "form drawer bottom",
+                "provide storage surface"
+            ],
+            "semantic_description": "Flat reddish-brown drawer bottom panel with a smooth hard surface and broad rectangular shape inside the open drawer.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer runners",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding",
+                "align drawers",
+                "limit wobble"
+            ],
+            "semantic_description": "Slim rail-like sliding hardware mounted along the drawer sides inside the cabinet, visible as narrow strips beside the open drawers.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior divider panel",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate drawer levels",
+                "support cabinet interior structure",
+                "partition the drawer openings"
+            ],
+            "semantic_description": "Flat horizontal interior panel visible behind the upper drawer opening, appearing as a light internal divider within the cabinet.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower side support rail",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed lower side rail to steady the cabinet during drawer manipulation",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "brace the lower side structure",
+                "connect and reinforce the legs",
+                "support the cabinet base area"
+            ],
+            "semantic_description": "Narrow horizontal rail near the lower side of the cabinet, likely wood, with a smooth hard finish and elongated rectangular form connecting the lower structure.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel edge trim",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish panel edge",
+                "cover a seam",
+                "provide visual accent"
+            ],
+            "semantic_description": "Very thin orange-brown strip along the edge of the reddish drawer bottom panel, with a smooth hard finish and narrow band shape.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and part identities mismatch; extra parts are mislabeled or duplicated."
+    }
+}

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:237f8c4064c967b4be6ae996b768f1de12828b90920e7e1e4c064184757b4e99
+size 3806644