Add asset kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be

.gitattributes

@@ -8403,3 +8403,4 @@ dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/affordance/m
 dataset/kitchen_supplies/tableware/012d1fb76e005cbebef8e6fdcff3e51d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/affordance/affordance_annot.json

@@ -0,0 +1,61 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the raised rim from opposite sides to pick up the tray",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the rim to stabilize and reposition the tray on a surface",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "pinch a corner of the rim to rotate or slide the tray",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a gripping edge",
+                "retain items on the tray",
+                "contain spills slightly",
+                "stabilize objects against sliding",
+                "define the tray boundary"
+            ],
+            "semantic_description": "Raised rectangular rim around the tray perimeter, appearing cream to off-white with a hard smooth glossy ceramic or plastic-like surface, rounded corners, shallow height, and ornate embossed floral border detailing.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the tray by grasping the flat center area from above with a large gripper",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "push or slide the tray by contacting the flat base surface",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "support carried items",
+                "provide a flat resting surface",
+                "distribute load across the tray",
+                "present decorative center panel"
+            ],
+            "semantic_description": "Flat central panel of the tray, cream to beige in color with a hard smooth glossy finish, broad rectangular shape, shallow recessed placement inside the rim, and visible floral decorative motif on the top face.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00f1829d110ce370a053df7fd0eeb931b964b6a07b301a56e746e8f23820da5d
+size 4722108

dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/tray_032.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>