Add asset kitchen_supplies/storage/0aad7bc1f3775163aac60069f92a698d

.gitattributes

@@ -7070,4 +7070,4 @@ dataset/kitchen_supplies/storage/02ba263685c4525bb42c2dacf1ca9739/affordance/mes
 dataset/kitchen_supplies/storage/03f00fd047c259159086bbf3bf5003f1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/05b17d1d4aeb5bcb83d0e9b06aa8cb4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/07faef72dec556d99a1c5964cdd20c44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/0b3db44adde259a79294de3c4f9c2f88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/0aad7bc1f3775163aac60069f92a698d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/0aad7bc1f3775163aac60069f92a698d/affordance/affordance_annot.json

@@ -0,0 +1,149 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side of the cabinet frame to lift or reposition the nightstand",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the cabinet frame to stabilize it while opening or closing the drawer",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "support the structure",
+                "house the drawer opening",
+                "provide external support surfaces",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large light gray-beige wooden outer frame with a matte smooth finish, subtle wood grain, boxy shape, and four short legs forming the sides, top surround, and main structure of the nightstand.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box interior",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the open drawer box from the sides or rim to remove or reposition it",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the drawer box to guide it during insertion into the cabinet",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "support drawer contents",
+                "provide interior storage volume"
+            ],
+            "semantic_description": "Open rectangular drawer interior with light tan wood surfaces, matte finish, smooth hard surfaces, and a shallow tray-like form that slides inside the cabinet.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front edge to pull the drawer open if the knob is not used",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "close the front opening",
+                "provide a pulling face",
+                "provide a pushing face",
+                "cover stored contents"
+            ],
+            "semantic_description": "Flat light wood front panel with visible wood grain, matte smooth finish, hard surface, and a broad rectangular shape mounted at the front of the drawer.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small front knob to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide a grip point",
+                "pull the drawer open",
+                "guide drawer motion",
+                "mark the drawer center"
+            ],
+            "semantic_description": "Small round metallic golden knob with a smooth slightly reflective hard surface, centered on the drawer front and sized for fingertip or gripper pinching.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer outer side panel",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the drawer side wall",
+                "support the drawer structure",
+                "connect the front to the rest of the drawer",
+                "help guide the drawer within the cabinet"
+            ],
+            "semantic_description": "Narrow vertical side panel along the outer edge of the drawer, appearing as a light wood piece with smooth matte finish and hard surface, visible beside the drawer interior and front.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom shelf panel",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items",
+                "provide lower shelf surface",
+                "add structural bracing",
+                "increase storage area"
+            ],
+            "semantic_description": "Flat rectangular lower shelf panel in light brown wood with a matte smooth hard surface and subtle grain, spanning near the bottom between the legs.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer bottom panel",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support drawer contents",
+                "form the base of the drawer",
+                "connect the drawer sides",
+                "help retain stored items"
+            ],
+            "semantic_description": "Thin flat wooden panel forming the underside/base of the drawer, visible from angled views as a reddish-brown or tan matte surface beneath the drawer interior.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue part is drawer side rail, not outer side panel; graspability also too strict for frame and shelf."
+    }
+}

dataset/kitchen_supplies/storage/0aad7bc1f3775163aac60069f92a698d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8499a26eb3e77b498ad0acb38cdb6d2ea0523c34189b156445abfacd011d0a43
+size 3792404

dataset/kitchen_supplies/storage/0aad7bc1f3775163aac60069f92a698d/drawer_062.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>