Add asset kitchen_supplies/storage/2d03291b6cf95fa6a0c9abdb764c74c8

.gitattributes

@@ -7091,3 +7091,4 @@ dataset/kitchen_supplies/storage/23d9e76127b65a1aacaf4227a7250d17/affordance/mes
 dataset/kitchen_supplies/storage/25654b1ad7df5a0c8cd278fea187cfba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/25b96c463c3b5e5dac59cea7e42a9acc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/269ef5bc24de550aa75b8f2dabb33bdb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/2d03291b6cf95fa6a0c9abdb764c74c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/2d03291b6cf95fa6a0c9abdb764c74c8/affordance/affordance_annot.json

@@ -0,0 +1,235 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the overhanging edges of the top to lift or reposition the nightstand",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while opening the drawer",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cover the cabinet body",
+                "support small items",
+                "stiffen the structure"
+            ],
+            "semantic_description": "Large square dark-brown wooden top with a smooth matte-to-satin finish, visible wood grain, and a thin lighter inlay border near the perimeter.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panel",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer knob or upper edge area of the drawer front to pull the drawer open",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide the visible drawer face",
+                "transmit pulling and pushing force",
+                "protect stored contents"
+            ],
+            "semantic_description": "Rectangular dark-brown wooden drawer face with a framed or slightly recessed center panel, smooth finish, visible grain, and a round brass-colored knob at the center front.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior base",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain stored items",
+                "provide interior storage surface",
+                "support drawer contents"
+            ],
+            "semantic_description": "Flat light-tan interior bottom surface inside the open drawer, with a plain matte finish and smooth hard appearance.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet side panel",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side of the cabinet body to lift or reposition the unit",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the furniture while opening the drawer",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "form the cabinet body",
+                "enclose the drawer cavity",
+                "support structural load",
+                "provide lateral stability"
+            ],
+            "semantic_description": "Large vertical dark-brown wooden side panel with a smooth matte finish, visible wood grain, and a framed rectangular appearance on the cabinet exterior.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the drawer box",
+                "contain stored items",
+                "support the drawer base"
+            ],
+            "semantic_description": "Narrow light-tan wooden side wall of the drawer box with a smooth matte surface, visible along the sides of the opened drawer.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding travel",
+                "reduce wobble during opening"
+            ],
+            "semantic_description": "Thin metal slide hardware mounted along the drawer side, brass-gold in color with a slightly reflective finish, linking the drawer to the cabinet interior.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "turned leg",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to slightly reposition or rotate the cabinet on a surface",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "hold a leg briefly to steady the unit during manipulation",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet off the floor",
+                "elevate the base",
+                "provide stability"
+            ],
+            "semantic_description": "Small turned light-beige wooden leg with a smooth finish and rounded tapered profile, located at each lower corner.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front corner post",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a front corner post to steady or help reposition the cabinet body",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "reinforce the frame",
+                "connect top and base",
+                "protect cabinet corners",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Tall narrow dark-brown wooden vertical post at the front corners, with a smooth matte surface and straight framing shape.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet underside panel",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the underside of the cabinet body",
+                "support the cabinet structure",
+                "stiffen the lower body"
+            ],
+            "semantic_description": "Broad flat light-tan underside panel on the cabinet, visible from bottom views between the legs and surrounding lower frame.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet base trim",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower side trim edge to help reposition the cabinet",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "stiffen the lower frame",
+                "connect lower body edges",
+                "protect the base perimeter"
+            ],
+            "semantic_description": "Long narrow dark-brown wooden trim strip running along the lower perimeter above the legs, with a smooth matte finish.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet back panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the back panel area to reorient or lift the cabinet with support from another hand",
+                    "confidence": 0.45
+                },
+                {
+                    "scenario": "brace against the back panel to stabilize the unit",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "close the rear of the cabinet",
+                "add structural rigidity",
+                "enclose the drawer cavity"
+            ],
+            "semantic_description": "Broad flat dark-brown wooden rear panel with a smooth matte finish and simple unadorned appearance covering the back of the cabinet.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper side apron",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame the upper side opening",
+                "reinforce the upper side edge",
+                "connect the top area to the body framing"
+            ],
+            "semantic_description": "Narrow dark-brown horizontal side framing strip visible near the top of the side opening, just below the top panel and above the main side panel.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and part identities mismatch; back/underside/post share wrong colors and slide rail color/material are incorrect."
+    }
+}

dataset/kitchen_supplies/storage/2d03291b6cf95fa6a0c9abdb764c74c8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24be9f92ffab4643146c02cf117c21d361479ca982dc482d3a5e765faacc3b36
+size 3825628

dataset/kitchen_supplies/storage/2d03291b6cf95fa6a0c9abdb764c74c8/drawer_038.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>