Add asset kitchen_supplies/storage/02ba263685c4525bb42c2dacf1ca9739

.gitattributes

@@ -7066,3 +7066,4 @@ dataset/kitchen_supplies/cutting_tools/fe000193da765413a951adb06441f987/affordan
 dataset/kitchen_supplies/cutting_tools/f4e408c4fa9c5798a3137735d4181e4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/01a00e2557165f8b80a18530e057c7a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/02ba263685c4525bb42c2dacf1ca9739/affordance/affordance_annot.json

@@ -0,0 +1,60 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer cabinet body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet body from the side surfaces to steady the unit while the sliding compartment is opened or closed",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "grasp the cabinet body from opposite sides to reposition the furniture slightly",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "enclose the sliding compartment",
+                "support the slide mechanism",
+                "provide the main exterior housing",
+                "stabilize the furniture body"
+            ],
+            "semantic_description": "Large sculpted outer cabinet body with smooth wavy contours, mainly light blue-gray on the sides and top with cream/off-white front and lower panels. It appears rigid with a matte painted or laminated finish and forms the main shell around the sliding compartment.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "sliding drawer/tray assembly",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front pull handle to pull the sliding compartment open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "push on the front panel or handle area to slide the compartment closed",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the extended tray sides/front while aligning or removing it from the slide rails",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide a sliding compartment",
+                "support and carry placed items",
+                "allow access by extending outward",
+                "present the front pull surface/handle"
+            ],
+            "semantic_description": "Sliding tray-like assembly with a cream/off-white front face and a shallow open wood-tone compartment behind it. The interior surfaces are light brown wood, with straight slide rails visible at the sides when extended. Surfaces appear smooth and rigid with a matte finish.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green part is a drawer, not tray assembly; handle claim unsupported and body graspability overstated for furniture-scale shell."
+    }
+}

dataset/kitchen_supplies/storage/02ba263685c4525bb42c2dacf1ca9739/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a500f2219b9902df1b5962bfbdcdc6de12d602f3a7a4fed2b1ba8b486e3dc4e0
+size 3783784

dataset/kitchen_supplies/storage/02ba263685c4525bb42c2dacf1ca9739/drawer_088.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>