Add asset kitchen_supplies/tableware/0a58a022eade52a28e145c96e2165ee1

.gitattributes

@@ -8413,3 +8413,4 @@ dataset/kitchen_supplies/tableware/07369dcfb16756b7b30d12395ec3bc5a/affordance/m
 dataset/kitchen_supplies/tableware/08bf7aa728e85252b5051cfc9ede36d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/09048f7f5c855db69cd17356f4d18de6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0a58a022eade52a28e145c96e2165ee1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/0a58a022eade52a28e145c96e2165ee1/affordance/affordance_annot.json

@@ -0,0 +1,137 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the raised rim from the side to pick up the tray",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the rim to stabilize or reposition the tray on a surface",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "pinch a corner of the rim to tilt the tray for pouring out contents",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide edge grip",
+                "retain items on the tray",
+                "form a spill barrier",
+                "stiffen the tray structure"
+            ],
+            "semantic_description": "Raised dark gray to black rim, likely metal or rigid plastic, with a matte to satin smooth hard surface, rounded rectangular shape, and medium-width border running around the tray perimeter.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray interior surface",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support carried items",
+                "provide a placement surface",
+                "contain small spills",
+                "define the tray basin"
+            ],
+            "semantic_description": "Flat recessed dark gray interior panel with a matte smooth hard finish, broad rectangular shape with rounded corners, occupying most of the tray's top surface inside the rim.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the underside base to lift the empty tray from below",
+                    "confidence": 0.47
+                },
+                {
+                    "scenario": "hold the bottom while another gripper manipulates the tray rim",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "support the tray on a table",
+                "provide underside stability",
+                "form the bottom structure"
+            ],
+            "semantic_description": "Broad dark gray underside base, likely metal or rigid plastic, with a matte smooth hard surface and slightly tapered rectangular form covering most of the tray's bottom.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_9": {
+                    "confidence": 0.9160802960395813,
+                    "position": [
+                        0.01289887806342449,
+                        0.2172160791233182,
+                        -0.020345842000097036
+                    ],
+                    "orientation": {
+                        "w": 0.5221103132211828,
+                        "xyz": [
+                            0.4838595285931483,
+                            -0.4611828994017818,
+                            0.5297085148617684
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9142873883247375,
+                    "position": [
+                        0.23989699488447513,
+                        -0.07951270323246717,
+                        -0.021238441113382578
+                    ],
+                    "orientation": {
+                        "w": 0.02452194997593223,
+                        "xyz": [
+                            0.672520217026541,
+                            0.021948360592414784,
+                            -0.739346671817259
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9056690335273743,
+                    "position": [
+                        0.09775930350588169,
+                        0.213666801340878,
+                        0.00912236561998725
+                    ],
+                    "orientation": {
+                        "w": 0.45861581426025383,
+                        "xyz": [
+                            0.5215065474345553,
+                            -0.5477004707253804,
+                            0.4666118839683481
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "corner edge of tray",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "round off corner transitions",
+                "reinforce corner junction",
+                "reduce snagging at corners"
+            ],
+            "semantic_description": "Small rounded corner transition area at the upper edge, matching the tray's dark gray hard matte finish and blending the rim surfaces where adjacent sides meet.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/0a58a022eade52a28e145c96e2165ee1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75fe08c7c01e85927f383e1af0c7cc8b0a772c00d570b565df75b4e59410f8d5
+size 943076