Add asset kitchen_supplies/storage/d6b6fc35ed3a5300a0c11fe8f43880d6

.gitattributes

@@ -7173,4 +7173,4 @@ dataset/kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090/affordance/mes
 dataset/kitchen_supplies/storage/d29ec18cf3f950e8a4209742c24f179b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d3169420bc13515aad225faf019d6117/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d5c35bb084c45341a5a16e0923d006af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/d6ced34388e555f0bfd4cca4ed0a939b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d6b6fc35ed3a5300a0c11fe8f43880d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/d6b6fc35ed3a5300a0c11fe8f43880d6/affordance/affordance_annot.json

@@ -0,0 +1,139 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls of the cabinet body to lift or reposition the small drawer unit",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide structural frame",
+                "enclose drawer compartments",
+                "support attached decorative protrusions",
+                "stabilize the unit"
+            ],
+            "semantic_description": "Main outer shell of the cabinet, predominantly pastel pink to lavender with smooth rounded surfaces and a bear-like silhouette. It forms the side walls, top, and back, with rounded ear-like protrusions at the top and bulging side contours.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the small round knob on the upper drawer front to pull the top drawer open",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "push on the upper drawer front to close the top drawer",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "open the upper drawer",
+                "close the upper drawer",
+                "cover upper drawer contents",
+                "provide access to upper storage"
+            ],
+            "semantic_description": "Curved upper drawer front with a light wood-colored face and visible wood grain, topped by a blue arched section in the mask-aligned views. It sits near the top front of the cabinet and has a centered small round knob.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_15": {
+                    "confidence": 0.21235549449920654,
+                    "position": [
+                        0.17846743762493134,
+                        -0.032894906122237444,
+                        -0.04267099779099226
+                    ],
+                    "orientation": {
+                        "w": 0.7245122213931086,
+                        "xyz": [
+                            -0.6117289163650397,
+                            -0.24713319674656153,
+                            -0.19948673389652494
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer assembly",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer front by its round knob to pull the lower drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "push on the lower drawer front to close the lower drawer",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the side of an opened drawer box to guide or remove the drawer",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "provide storage volume",
+                "slide in and out",
+                "cover stored contents",
+                "enable access to contents"
+            ],
+            "semantic_description": "Orange-masked drawer components including the large lower front panel and the visible drawer box sides/interior structure when opened. In RGB, the lower front is pastel pink with a centered round yellow knob, while the drawer box surfaces are light wood to tan.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front trim strip",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the front",
+                "separate upper and lower front regions",
+                "accent the drawer opening"
+            ],
+            "semantic_description": "Very thin dark red horizontal strip across the front, located just beneath the upper drawer area. It appears as a narrow smooth accent line with minimal thickness.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative protrusions and feet",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly pinch a foot or side nub as a secondary stabilizing contact while repositioning the cabinet",
+                    "confidence": 0.32
+                },
+                {
+                    "scenario": "use a top ear-like protrusion as a delicate temporary hold during alignment, not primary lifting",
+                    "confidence": 0.24
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet on the floor",
+                "provide decorative bear features",
+                "act as rounded contact points",
+                "elevate the base slightly"
+            ],
+            "semantic_description": "Small rounded cyan-masked protrusions including the ear-like pieces on top, eyebrow-like decorative bumps on the front, side nubs, and the feet at the bottom. In RGB they appear pastel blue to pinkish-lavender depending on location, with a smooth glossy finish.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Upper drawer front color/material and handle description mismatch mask/RGB; lower drawer semantics also inaccurate."
+    }
+}

dataset/kitchen_supplies/storage/d6b6fc35ed3a5300a0c11fe8f43880d6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f85b5d12b785b88c7686302869374496840e872d50187920ff1ebbd37b2fe41
+size 3809648

dataset/kitchen_supplies/storage/d6b6fc35ed3a5300a0c11fe8f43880d6/drawer_084.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>NO: {"summary":"Drawer fronts, wooden rails, body, knobs, feet, and decorative ears are merged inconsistently; main issue not fixable by merging alone.","merge_groups":[{"colors":["Blue","Maroon"],"target_part":"upper drawer front/handle area","reason":"same front face split by thin stripe"},{"colors":["Blue","Cyan"],"target_part":"decorative protrusions","reason":"small decorative pieces share non-drawer function"}]}</PartSegChecker>