Add asset kitchen_supplies/tableware/250dc64d4209585d9098dff857b93038

.gitattributes

@@ -8461,3 +8461,4 @@ dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/affordance/m
 dataset/kitchen_supplies/tableware/21aa54f072ee5f369d67ff5428f0f53f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2207bc19555b5462a493c791be749e7c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/238cd705ea7b5c0b9f3c9ab16c94cf45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/250dc64d4209585d9098dff857b93038/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/250dc64d4209585d9098dff857b93038/affordance/affordance_annot.json

@@ -0,0 +1,161 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray rim from opposite sides to lift and carry the tray",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "pinch the tray edge to reposition or slide it on a surface",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the tray body to stabilize it while placing or removing items",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "support items",
+                "provide carrying surface",
+                "contain items with shallow side wall",
+                "offer main grasp area",
+                "stabilize placed objects"
+            ],
+            "semantic_description": "Large white ceramic tray body with a glossy hard smooth surface, shallow round bowl shape, scalloped fluted rim, and a central gold decorative motif and border on the inner face.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9853339195251465,
+                    "position": [
+                        0.11793781002052128,
+                        0.12775086238980293,
+                        0.09243508614599705
+                    ],
+                    "orientation": {
+                        "w": 0.2335777761625781,
+                        "xyz": [
+                            0.7894233913824439,
+                            0.3593132743536026,
+                            -0.43948390470468657
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pedestal base",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pedestal base to lift the empty tray from below",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the base to stabilize the tray during placement",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "grasp the base while rotating the tray for orientation adjustment",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "support the tray above the table",
+                "provide stable footing",
+                "elevate serving surface",
+                "assist repositioning from below"
+            ],
+            "semantic_description": "Small white ceramic pedestal foot with a glossy hard smooth finish, round fluted profile, and short stem-like connection under the tray center.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.05563514307141304,
+                    "position": [
+                        -0.011968568665906787,
+                        0.016357784159481525,
+                        -0.12166663818061352
+                    ],
+                    "orientation": {
+                        "w": 0.21564720518849712,
+                        "xyz": [
+                            0.01413640485814739,
+                            -0.022023469933076245,
+                            0.9761205928184197
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.05262862518429756,
+                    "position": [
+                        0.014101440319791436,
+                        -0.02201130986213684,
+                        -0.1194280069321394
+                    ],
+                    "orientation": {
+                        "w": 0.8884045847510932,
+                        "xyz": [
+                            -0.05053960199102462,
+                            -0.11870995400387707,
+                            -0.44055758902125763
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.04673184081912041,
+                    "position": [
+                        -0.05568101326934993,
+                        0.015446187928318977,
+                        -0.11366249434649944
+                    ],
+                    "orientation": {
+                        "w": 0.801956261761379,
+                        "xyz": [
+                            0.2368057796312777,
+                            0.21905312365619833,
+                            0.5027970823019955
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.045720722526311874,
+                    "position": [
+                        -0.017722905380651355,
+                        -0.020597364753484726,
+                        -0.1292732786387205
+                    ],
+                    "orientation": {
+                        "w": 0.1926839366723394,
+                        "xyz": [
+                            0.10059149135684335,
+                            0.08371074868252693,
+                            0.9724951223374166
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "center decoration",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the tray",
+                "indicate center area",
+                "provide visual contrast"
+            ],
+            "semantic_description": "Small gold ornamental center motif on the tray interior, appearing as a glossy printed or glazed decorative pattern with smooth flat surface and no protruding grasp features.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/250dc64d4209585d9098dff857b93038/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:747d0ab9eaa4024ec427ac9972b106c4722e84a11b73fb4f43cdb879fad9ccf8
+size 3779224

dataset/kitchen_supplies/tableware/250dc64d4209585d9098dff857b93038/tray_009.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>