Add asset kitchen_supplies/storage/0ec5ee10252e56168e3efad4afd3c5b3

.gitattributes

@@ -7075,3 +7075,4 @@ dataset/kitchen_supplies/storage/0bb192138e075023aade9b863387a775/affordance/mes
 dataset/kitchen_supplies/storage/0bbff34bc4b75b218e5078075405ba25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0e16923175de5f1086eec257bd6be25e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/0ec5ee10252e56168e3efad4afd3c5b3/affordance/affordance_annot.json

@@ -0,0 +1,267 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls to lift or reposition the small cabinet",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening a drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "enclose drawers",
+                "support the overall structure",
+                "provide exterior surfaces for stabilization",
+                "protect stored contents"
+            ],
+            "semantic_description": "Large dark brown wooden outer shell with visible wood grain, a smooth satin finish, and a sculpted wavy profile forming the main cabinet body.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner rim",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame drawer openings",
+                "finish the front opening edges",
+                "reduce sharp contact at openings",
+                "visually contrast with the darker body"
+            ],
+            "semantic_description": "Narrow light beige trim lining the drawer openings, likely wood with a smooth polished finish and rounded edges following the cabinet's curving front contour.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "push on the upper drawer front to close the drawer",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "grasp the top or side edge of the upper drawer front if the handle is unavailable",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "close the upper drawer",
+                "provide a front face for pushing or pulling",
+                "cover stored contents",
+                "indicate drawer position"
+            ],
+            "semantic_description": "Dark brown wooden front panel with visible grain, a smooth satin finish, and a broad rectangular form on the upper drawer, with a small gold-toned handle mounted near its center.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "push on the lower drawer front to close the drawer",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "grasp the top or side edge of the lower drawer front if the handle is unavailable",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "close the lower drawer",
+                "provide a front face for pushing or pulling",
+                "cover stored contents",
+                "indicate drawer position"
+            ],
+            "semantic_description": "Dark brown wooden front panel with visible grain, a smooth satin finish, and a broad rectangular form on the lower drawer, with a small gold-toned handle mounted near its center.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer handles",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the handle to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to guide the drawer closed",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "provide a grip for opening",
+                "assist drawer closing",
+                "localize hand placement",
+                "transfer pulling force to drawer"
+            ],
+            "semantic_description": "Small gold-toned rectangular handles, likely metal, with a smooth reflective finish mounted near the centers of the drawer fronts.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer box",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper drawer box sides when the drawer is removed for transport",
+                    "confidence": 0.47
+                },
+                {
+                    "scenario": "hold the drawer box during maintenance or reinsertion",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support drawer contents",
+                "slide within cabinet",
+                "connect front panel to rails"
+            ],
+            "semantic_description": "Light tan wooden drawer compartment with a matte smooth interior, boxy shape, and medium size positioned behind the upper drawer front.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer box",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer box sides when the drawer is removed for transport",
+                    "confidence": 0.49
+                },
+                {
+                    "scenario": "hold the drawer box during maintenance or reinsertion",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support drawer contents",
+                "slide within cabinet",
+                "connect front panel to rails"
+            ],
+            "semantic_description": "Light tan wooden drawer compartment with a matte smooth interior, boxy shape, and larger lower placement behind the bottom drawer front.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slides",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer alignment",
+                "reduce friction during opening",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Thin silver-gray metal rail elements with a slightly reflective finish mounted along the drawer sides inside the cabinet.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer side panel when handling a removed drawer during maintenance",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "retain contents",
+                "stiffen drawer box",
+                "define drawer side boundary",
+                "support slide attachment"
+            ],
+            "semantic_description": "Slim tan wooden side wall with a smooth matte surface and straight elongated form running along the side of a drawer box.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer back panel",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain contents at the back",
+                "close the drawer box rear side",
+                "stiffen the drawer structure"
+            ],
+            "semantic_description": "Tan wooden rear panel with a matte smooth finish closing the back of a drawer box.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to slightly nudge or rotate the cabinet during positioning",
+                    "confidence": 0.33
+                },
+                {
+                    "scenario": "hold a leg to stabilize the cabinet while inspecting underneath",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the body from the floor",
+                "provide footing stability"
+            ],
+            "semantic_description": "Short gold-toned rounded foot or leg with a smooth finish and bulbous tapered shape at the cabinet base corners.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom apron",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the lower front",
+                "visually finish the base",
+                "stiffen the cabinet bottom"
+            ],
+            "semantic_description": "Small gold-toned curved base panel beneath the cabinet front, with a smooth finish and shallow horizontal form across the lower edge.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center rail between drawers",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate the upper and lower drawer openings",
+                "support the cabinet front structure",
+                "help align drawer openings"
+            ],
+            "semantic_description": "Thin horizontal rail between the two drawer openings near the cabinet front, appearing pinkish-purple in the mask and corresponding to a light beige wood strip in the RGB image.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part descriptions and labels mismatch colors/materials; bottom apron and center rail identities are incorrect; some graspability is unrealistic."
+    }
+}

dataset/kitchen_supplies/storage/0ec5ee10252e56168e3efad4afd3c5b3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6cd43b38c76b3b0f00fd90b63a90f31eb1f10ff3c5ff1082504a8ab636e5216
+size 3797732

dataset/kitchen_supplies/storage/0ec5ee10252e56168e3efad4afd3c5b3/drawer_073.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>