Add asset kitchen_supplies/storage/d6f48d0e7ff355f285a4e5cee940d346

.gitattributes

@@ -7174,3 +7174,4 @@ dataset/kitchen_supplies/storage/d29ec18cf3f950e8a4209742c24f179b/affordance/mes
 dataset/kitchen_supplies/storage/d3169420bc13515aad225faf019d6117/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d5c35bb084c45341a5a16e0923d006af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d6b6fc35ed3a5300a0c11fe8f43880d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d6f48d0e7ff355f285a4e5cee940d346/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/d6f48d0e7ff355f285a4e5cee940d346/affordance/affordance_annot.json

@@ -0,0 +1,142 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side panels to lift or reposition the small drawer cabinet",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "enclose drawer compartments",
+                "provide standing stability",
+                "mount the drawer slides"
+            ],
+            "semantic_description": "Large outer cabinet shell with patchwork geometric panels in tan, white, black, blue-gray, and pale wood tones, with a smooth hard finish, boxy shape, and four short legs.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer sides to pull an open drawer farther out",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the drawer box to remove or reinstall the drawer from the cabinet",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "push on the drawer box to slide it closed during manipulation",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "support the drawer front",
+                "guide access to contents"
+            ],
+            "semantic_description": "Rectangular drawer compartments with brown wooden interior surfaces and smooth hard texture, nested inside the cabinet on side rails.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front panel edges to pull a drawer open",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the front panel to stabilize the drawer during removal",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "close the front of the drawer",
+                "provide a push-pull surface",
+                "protect stored contents",
+                "present the visible facade"
+            ],
+            "semantic_description": "Flat rectangular drawer faces at the front of the drawers, including a dark blue textured lower front and side/front face panels visible from angled views, spanning the front opening of each drawer.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer handle",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small horizontal handle to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to control drawer motion while closing",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a dedicated grip",
+                "pull the drawer open",
+                "control drawer movement",
+                "indicate drawer orientation"
+            ],
+            "semantic_description": "Small gold-colored metal horizontal pull handles with a smooth slightly reflective finish, mounted near the center of each drawer front and sized for pinch gripping.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support the drawer during sliding",
+                "limit side-to-side wobble",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Thin light-colored side rails mounted along the drawer sides inside the cabinet, partly visible when the drawers are open.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior side panel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the inner wall of the cabinet",
+                "separate side structure from drawer space",
+                "provide mounting surface for hardware",
+                "reinforce the frame"
+            ],
+            "semantic_description": "Narrow light wood interior side wall panel with a smooth hard surface, visible along the inside wall near the drawer openings and forming part of the internal frame.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer front and handle mask colors/part identities mismatch; front excludes handles and handle color is wrong."
+    }
+}

dataset/kitchen_supplies/storage/d6f48d0e7ff355f285a4e5cee940d346/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e58cf1ed8fee1f25c2fd042d6357c271e835e36f47b9c118bae45c89299514cf
+size 3793312

dataset/kitchen_supplies/storage/d6f48d0e7ff355f285a4e5cee940d346/drawer_077.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 not correctly separated; one drawer face is mislabeled and body is fragmented.","merge_groups":[{"colors":["Yellow","Orange"],"target_part":"main body","reason":"same cabinet shell surfaces split across views"},{"colors":["Blue","Navy"],"target_part":"drawers","reason":"all drawer fronts share function; bottom drawer separated"},{"colors":["Pink","Maroon"],"target_part":"drawer handles/slides","reason":"small secondary drawer hardware fragments"}]}</PartSegChecker>