Add asset kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e

.gitattributes

@@ -8439,3 +8439,4 @@ dataset/kitchen_supplies/tableware/13a13d1f008f5438be08b2b8ea107a71/affordance/m
 dataset/kitchen_supplies/tableware/1608139b10e95f019987b0e54df62f34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/167845b71b335d5981fc48ccc6b703fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/16e277ef4985547bb98f7c6b0c40ae8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/affordance/affordance_annot.json

@@ -0,0 +1,215 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray base",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the underside/base area to pick up the tray when empty",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "support the tray body from below with a gripper for transport",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support carried items",
+                "provide a flat resting surface",
+                "form the main structure",
+                "support placement on a table"
+            ],
+            "semantic_description": "Large rectangular off-white rigid body, likely ceramic or hard molded plastic, with a smooth slightly glossy finish, hard slick texture, and a flat center forming the tray bottom and underside.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.8461146950721741,
+                    "position": [
+                        0.1836537629715167,
+                        0.2039888179861009,
+                        -0.009567460278049111
+                    ],
+                    "orientation": {
+                        "w": 0.7146841029364291,
+                        "xyz": [
+                            0.20685775393327838,
+                            -0.638249278635043,
+                            0.19767235762614516
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.825548529624939,
+                    "position": [
+                        0.19823259714758024,
+                        0.18006798392161727,
+                        -0.0036021637497469783
+                    ],
+                    "orientation": {
+                        "w": 0.71818934934356,
+                        "xyz": [
+                            0.0999900098057383,
+                            -0.6798567062585272,
+                            0.1095486895577874
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.784614086151123,
+                    "position": [
+                        0.13704702857648954,
+                        0.2511651790700853,
+                        -0.0039324769750237465
+                    ],
+                    "orientation": {
+                        "w": 0.6316944170493389,
+                        "xyz": [
+                            0.3398409410548896,
+                            -0.5919844458331919,
+                            0.36745709156742595
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.765645444393158,
+                    "position": [
+                        0.16910321119939908,
+                        0.22529941564425826,
+                        0.000727588776499033
+                    ],
+                    "orientation": {
+                        "w": 0.664956735519928,
+                        "xyz": [
+                            0.2679575439930841,
+                            -0.636495119728271,
+                            0.2844384943462638
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.7085846662521362,
+                    "position": [
+                        0.16201109293615445,
+                        0.23163206642493606,
+                        0.002962519647553563
+                    ],
+                    "orientation": {
+                        "w": 0.655903240833834,
+                        "xyz": [
+                            0.2595416341629478,
+                            -0.6530944634347644,
+                            0.2754935582378604
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "raised inner rim",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the raised rim to lift or reposition the tray",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the rim to stabilize the tray during placement",
+                    "confidence": 0.59
+                }
+            ],
+            "functional_labels": [
+                "retain items inside the tray",
+                "limit sliding off the surface",
+                "provide a shallow boundary",
+                "stabilize contents"
+            ],
+            "semantic_description": "Medium-width off-white raised border around the interior, made of the same rigid smooth slightly glossy material, with ornate embossed detailing and a hard contoured edge.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_54": {
+                    "confidence": 0.8891147971153259,
+                    "position": [
+                        -0.21500716503942385,
+                        -0.14485089713707566,
+                        0.008967165602371097
+                    ],
+                    "orientation": {
+                        "w": 0.7063372482929882,
+                        "xyz": [
+                            -0.009028034940656602,
+                            0.7077171227751292,
+                            0.011944052490370591
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.8843943476676941,
+                    "position": [
+                        -0.21496751304948702,
+                        -0.1162490495480597,
+                        0.0159951054956764
+                    ],
+                    "orientation": {
+                        "w": 0.6920245852573599,
+                        "xyz": [
+                            0.0016998609805376984,
+                            0.7218542475571676,
+                            0.005052638489039269
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "outer rim with handles",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side handle area to lift and carry the tray",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "pinch the outer rim to pull the tray across a surface",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the rim to steady the tray while loading or unloading items",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide side gripping points",
+                "support carrying",
+                "define the outer boundary",
+                "add handling leverage"
+            ],
+            "semantic_description": "Wide scalloped off-white outer border with integrated side handle-like protrusions, rigid and hard with a smooth slightly glossy finish and ornate embossed floral scrollwork around the tray perimeter.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_35": {
+                    "confidence": 0.8827004432678223,
+                    "position": [
+                        -0.030740448797587305,
+                        -0.2893026494421065,
+                        0.01638144231401384
+                    ],
+                    "orientation": {
+                        "w": 0.4705416131831244,
+                        "xyz": [
+                            -0.5180173149746528,
+                            0.5152027301098424,
+                            0.4947876297330397
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8c58ad29596b86a87de6fe185191cf01e29d692332441927dd39e1910a9e80a
+size 3805400

dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/tray_024.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>