Add asset kitchen_supplies/storage/1275baeebd9456bebcd9ba7e67937dd3

.gitattributes

@@ -7077,3 +7077,4 @@ dataset/kitchen_supplies/storage/0e16923175de5f1086eec257bd6be25e/affordance/mes
 dataset/kitchen_supplies/storage/0e8ca3bf6c2d55a7a179b4fad8c1076a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0ec5ee10252e56168e3efad4afd3c5b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0fd0aab9f4a55a5584f1c15e58ad5b59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/1275baeebd9456bebcd9ba7e67937dd3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/1275baeebd9456bebcd9ba7e67937dd3/affordance/affordance_annot.json

@@ -0,0 +1,270 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite top edges to lift or reposition the nightstand",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the top edge to stabilize the cabinet while another tool opens a drawer",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a flat top surface",
+                "support placed items",
+                "cap the cabinet body",
+                "offer an upper stabilization area"
+            ],
+            "semantic_description": "Broad rectangular top panel in a light beige-tan wood tone with visible subtle wood grain and a smooth matte finish, covering the cabinet's upper surface.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet side and back panels",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side panel area to help lift or carry the nightstand",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold a side panel to stabilize the cabinet while opening a drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawer structure",
+                "support the drawers",
+                "provide side and rear protection",
+                "maintain cabinet rigidity"
+            ],
+            "semantic_description": "Large outer side and rear panels in a muted gray-brown painted wood appearance with a matte finish and recessed panel styling, forming the cabinet shell.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper drawer front edge to pull the drawer open if the knob is not used",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "push on the upper drawer front to close the drawer",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "close the upper drawer opening",
+                "provide a front pushing surface",
+                "protect drawer contents",
+                "present the drawer face"
+            ],
+            "semantic_description": "Rectangular upper drawer face in light tan wood with visible grain, inset frame detailing, and a smooth matte finish on the upper front of the cabinet.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer front",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle drawer front edge to pull the drawer open",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "push the drawer front to close the middle drawer",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "close the middle drawer opening",
+                "provide a front pushing surface",
+                "protect drawer contents",
+                "present the drawer face"
+            ],
+            "semantic_description": "Rectangular middle drawer face in light tan wood with subtle grain, framed panel styling, and a smooth matte finish located at the cabinet's middle front.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer front edge to pull the bottom drawer open",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "push on the lower drawer front to close the drawer",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "close the lower drawer opening",
+                "provide a front pushing surface",
+                "protect drawer contents",
+                "present the bottom drawer face"
+            ],
+            "semantic_description": "Wide lower drawer face in light tan wood with framed panel detail, visible grain, and a matte finish across the bottom front opening.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer box",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed lower drawer box sides when opened to pull it farther out or remove it",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the drawer box while aligning and reinserting it into the cabinet",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "support drawer contents",
+                "provide internal storage volume"
+            ],
+            "semantic_description": "Open lower drawer box with flat side walls and an interior cavity, appearing medium brown wood on the inside with darker shadowed areas, visible behind the lower drawer front.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_83": {
+                    "confidence": 0.7653104662895203,
+                    "position": [
+                        0.2834693621844053,
+                        0.003644163953140378,
+                        -0.16319183260202408
+                    ],
+                    "orientation": {
+                        "w": 0.13896522206284492,
+                        "xyz": [
+                            0.6258146364509811,
+                            0.032683350099555364,
+                            -0.7667962613934817
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch an individual round knob to pull its drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold a knob to guide its drawer closed",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold for pulling",
+                "enable drawer opening",
+                "aid drawer closing",
+                "mark the drawer access point"
+            ],
+            "semantic_description": "Small round light wood or beige knob with a smooth matte finish, centered on each drawer front as the primary pull handle.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed side of an opened drawer to help pull out or remove the drawer",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the drawer side to align it during closing",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "form the drawer wall",
+                "retain stored items",
+                "connect front to drawer box",
+                "support drawer sliding assembly"
+            ],
+            "semantic_description": "Narrow rectangular side wall of an opened drawer, appearing gray-brown painted wood with a matte finish and flat rigid surface, visible beside the extended drawer.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer alignment",
+                "reduce wobble during sliding",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Thin narrow slide element along the side of the drawer opening, small and recessed, appearing as a dark narrow rail or guide beside the drawer box.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base apron and feet",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp under the lower apron or around a foot area to help lift the cabinet from below",
+                    "confidence": 0.45
+                },
+                {
+                    "scenario": "hold a lower corner/foot area to steady the unit during repositioning",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet on the floor",
+                "elevate the body",
+                "stabilize the furniture",
+                "distribute load at the base"
+            ],
+            "semantic_description": "Curved lower apron and short decorative feet in a muted gray-brown painted wood appearance with a matte finish, forming the base support around the cabinet.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside bottom panel",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close off the cabinet underside",
+                "add structural bracing at the bottom",
+                "provide a lower support surface"
+            ],
+            "semantic_description": "Broad flat underside panel visible mainly from below, appearing as a brown wood-toned bottom board in shadow spanning the lower frame area.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part colors/identities mismatch masks; drawer box/side descriptions swapped and lower drawer front color incorrect."
+    }
+}

dataset/kitchen_supplies/storage/1275baeebd9456bebcd9ba7e67937dd3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e6b219d27b9bee4b1ee1cf0f61a4e254c711a00b1d897e943d74a3773bd8b3e
+size 3789028

dataset/kitchen_supplies/storage/1275baeebd9456bebcd9ba7e67937dd3/drawer_025.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>YES</PartSegChecker>