Add asset kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a

.gitattributes

@@ -7081,3 +7081,4 @@ dataset/kitchen_supplies/storage/1275baeebd9456bebcd9ba7e67937dd3/affordance/mes
 dataset/kitchen_supplies/storage/141524c4eb6f5b11844a6870453ae46c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/11c6159a45c45413b108c17df7ac97f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/12783012224154238543aeef43392dd2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a/affordance/affordance_annot.json

@@ -0,0 +1,48 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hold the cabinet side or top edge to stabilize the nightstand while opening or closing a drawer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the outer side panel to nudge or reposition the furniture slightly across a surface",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide structural enclosure",
+                "support drawers",
+                "support top surface",
+                "stabilize the furniture",
+                "protect stored contents"
+            ],
+            "semantic_description": "Large off-white painted wooden cabinet body with a matte to satin finish, smooth hard surfaces, paneled sides, a shaped lower apron, and ornate classical styling forming the main outer structure.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer inner side panel",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form side wall of drawer",
+                "help contain stored items",
+                "provide interior boundary",
+                "support drawer structure"
+            ],
+            "semantic_description": "Beige to tan inner side wall of the drawer, likely wood or wood-lined, with a smooth hard surface and flat rectangular shape visible inside the open drawer cavity near the cabinet side.",
+            "id": 20,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Violet part is misidentified; mask marks drawer side exterior/front side, not inner side panel."
+    }
+}

dataset/kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8becd6506fb4bc7c961cb5ce72881b994d9b9b9b380e11cc5d9eb6fdcd35bb2
+size 3812936

dataset/kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a/drawer_002.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>2</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"drawer fronts and handles are merged into body; violet marks only small drawer interior fragments, not functional parts","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>