Add asset kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b

.gitattributes

@@ -7190,3 +7190,4 @@ dataset/kitchen_supplies/storage/ee0285dd0efc5e1cb8066409e347d179/affordance/mes
 dataset/kitchen_supplies/storage/f0360d30f9315738a6d892a876ea3e2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f5ff273f716755d9be1ba974c8e8ff70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f62906a06c505447929323af6eb445c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/affordance/affordance_annot.json

@@ -0,0 +1,130 @@
+{
+    "affordances": [
+        {
+            "part_name": "drawers",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front or knob to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the side of an extended drawer to slide it closed or remove it",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold an open drawer to stabilize it during manipulation",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide in and out",
+                "provide pull surface",
+                "form accessible storage compartments"
+            ],
+            "semantic_description": "Light beige wood drawers with a matte to satin finish and visible wood grain on the fronts. They are shallow rectangular drawer boxes at the front of the cabinet; the middle and bottom drawers have small round knobs, while the top drawer front has no visible knob.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8131663799285889,
+                    "position": [
+                        0.019776595989242196,
+                        0.030989871826022863,
+                        -0.28110143542289734
+                    ],
+                    "orientation": {
+                        "w": 0.16318089090963372,
+                        "xyz": [
+                            0.029255232168018133,
+                            0.029831843559113835,
+                            0.9857110070109789
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.7670857310295105,
+                    "position": [
+                        0.2946960646659136,
+                        -0.03998363995924592,
+                        -0.2187439203262329
+                    ],
+                    "orientation": {
+                        "w": 0.8197890318120582,
+                        "xyz": [
+                            -0.057621987233192506,
+                            -0.5697067458278737,
+                            0.007737807581018021
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.7628732919692993,
+                    "position": [
+                        0.13119118101894855,
+                        0.04796493938192725,
+                        -0.10480239242315292
+                    ],
+                    "orientation": {
+                        "w": 0.5091752286251209,
+                        "xyz": [
+                            -0.26662492279132294,
+                            -0.8180152429664255,
+                            0.022423188347267798
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.7580142021179199,
+                    "position": [
+                        0.12504548020660877,
+                        -0.01242461847141385,
+                        -0.07043016515672207
+                    ],
+                    "orientation": {
+                        "w": 0.18859925784613255,
+                        "xyz": [
+                            0.5781356923256536,
+                            0.6142781679432553,
+                            -0.5028436870313714
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet sides to lift or reposition the drawer unit",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the frame to stabilize the unit while opening a drawer",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the top edges for coarse transport of the cabinet",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "support drawers",
+                "enclose drawer openings",
+                "provide structural rigidity",
+                "support placement on the floor",
+                "offer stabilization surfaces"
+            ],
+            "semantic_description": "Light cream to beige wooden cabinet body with a matte smooth finish and subtle wood grain. It has hard flat side and top panels, an open front for the drawers, and four short tapered legs forming the outer structure around the drawers.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Top drawer knob claim is incorrect; top drawer clearly has a round knob."
+    }
+}

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f85439f70af2dd570de0db6cd5e86f15d2e4efac97181f878d9b58d8ba3fe9a6
+size 3783384

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/drawer_046.urdf

@@ -50,7 +50,7 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>16</part_count>
+         <part_count>3</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>