Add asset kitchen_supplies/storage/9bba3c4648165defbe9321d75436d38e

.gitattributes

@@ -7143,3 +7143,4 @@ dataset/kitchen_supplies/storage/9662fb1eb26f55efbc5c46a970a82f50/affordance/mes
 dataset/kitchen_supplies/storage/975ad8bd82c053deb4ef2578c037932d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9b0e5f9c788c5291b8cebefcf23b6d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9ff222208333598e8359fb0846996d23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/9bba3c4648165defbe9321d75436d38e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/9bba3c4648165defbe9321d75436d38e/affordance/affordance_annot.json

@@ -0,0 +1,135 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposing edges of the tabletop to lift or reposition the nightstand",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while another gripper opens a drawer",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a flat top surface",
+                "support placed items",
+                "cover the cabinet body",
+                "stiffen the structure"
+            ],
+            "semantic_description": "Large light gray rectangular top panel with a smooth painted appearance and slightly overhanging edges at the uppermost part of the cabinet.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts and side panels",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a cabinet side panel to lift or reposition the nightstand",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "grasp the lower edge of a drawer front to pull the drawer when not using the knob",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold a side panel to stabilize the cabinet during drawer operation",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "enclose the storage body",
+                "form the visible drawer faces",
+                "provide structural side walls",
+                "support drawer openings"
+            ],
+            "semantic_description": "Medium brown wood panels with visible wood grain and a satin finish, forming the cabinet side walls and the flat front faces of the drawers.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain stored items",
+                "provide storage cavity",
+                "organize contents"
+            ],
+            "semantic_description": "Dark reddish-brown recessed interior surfaces inside the open drawer, appearing as smooth wooden box-like compartments behind the drawer front.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "knobs",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a knob to pull a drawer open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold a knob to guide the drawer closed",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "pull drawer open",
+                "push drawer closed",
+                "provide a handhold for drawer manipulation"
+            ],
+            "semantic_description": "Small round light beige to pale gold knobs with a smooth slightly glossy hard surface, centered on each drawer front and protruding outward.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "body base and legs",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower body or base edge to lift or reposition the cabinet",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold the lower side or leg region to steady the cabinet during transport",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate it from the floor",
+                "provide ground contact",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Dark brown wooden lower body, base apron, and short curved legs with a satin finish, decorative contours, and small rounded feet at the bottom corners.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative front trim",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative detail",
+                "frame front panels visually",
+                "accent the drawer front design"
+            ],
+            "semantic_description": "Thin light beige trim lines on the drawer fronts and side panels, forming narrow rectangular decorative borders around the wood panels.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Knobs use wrong mask color; cyan is top/body, knobs appear separate light-pink parts. Drawer-front grouping and trim description also mismatch masks."
+    }
+}

dataset/kitchen_supplies/storage/9bba3c4648165defbe9321d75436d38e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaa29345d63f0eeb74d6a2af5a94f39cb54f0ae867108f0132f53708dea6673c
+size 3788812

dataset/kitchen_supplies/storage/9bba3c4648165defbe9321d75436d38e/drawer_004.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":"Front drawers and outer cabinet are merged; handle and feet details are missed, not fixable by merging alone.","merge_groups":[]}</PartSegChecker>