Add asset kitchen_supplies/storage/045973af4c3f5233beb1b368a3e31588

.gitattributes

@@ -7068,3 +7068,4 @@ dataset/kitchen_supplies/storage/01a00e2557165f8b80a18530e057c7a5/affordance/mes
 dataset/kitchen_supplies/storage/02886f52566b5c899f05b638fca25e64/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/02ba263685c4525bb42c2dacf1ca9739/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/03f00fd047c259159086bbf3bf5003f1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/045973af4c3f5233beb1b368a3e31588/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/045973af4c3f5233beb1b368a3e31588/affordance/affordance_annot.json

@@ -0,0 +1,109 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels to lift or reposition the nightstand",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening a drawer",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "support the whole unit",
+                "enclose drawer cavities",
+                "provide structural frame",
+                "stabilize during drawer motion"
+            ],
+            "semantic_description": "Large dark brown wooden outer carcass with a matte to satin finish and visible wood grain on the side and rear panels, forming the main structure of the two-drawer cabinet.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel and drawer fronts",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front edge to pull a drawer open when the knob is not used",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "grasp the top panel edges to lift or reposition the cabinet",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "cover the top of the cabinet",
+                "close the front of each drawer",
+                "provide a pull surface around the drawer front edges",
+                "define the outer facade"
+            ],
+            "semantic_description": "Dark brown wooden top panel and drawer front faces with visible wood grain and a smooth satin finish, appearing as broad flat rectangular exterior surfaces.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box interiors",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the open drawer sides to pull the drawer farther out",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the drawer box to remove or reinsert the drawer",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support drawer contents",
+                "slide within the cabinet",
+                "provide internal storage volume"
+            ],
+            "semantic_description": "Light tan wooden drawer box sides and back with matte smooth surfaces and simple rectangular tray-like shapes, visible when the drawers are open.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer bottoms",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items",
+                "form the base of each drawer",
+                "distribute load inside drawer"
+            ],
+            "semantic_description": "Flat tan wooden bottom panels with a matte smooth finish, spanning the floor of each drawer as broad horizontal support surfaces.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slides",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer alignment",
+                "reduce friction during opening",
+                "connect drawers to cabinet"
+            ],
+            "semantic_description": "Narrow metallic rails with a smooth reflective finish, mounted along the drawer sides inside the cabinet to enable linear sliding motion.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Missing knob part; drawer fronts grouped with top panel despite separate functional hardware visible and useful for grasping."
+    }
+}

dataset/kitchen_supplies/storage/045973af4c3f5233beb1b368a3e31588/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0259338d5665fba616dfd412bf614b4126bf8e9058c4d3aa7780ef95b5a033e
+size 3788048

dataset/kitchen_supplies/storage/045973af4c3f5233beb1b368a3e31588/drawer_003.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>