Add asset kitchen_supplies/tableware/238cd705ea7b5c0b9f3c9ab16c94cf45

.gitattributes

@@ -8460,3 +8460,4 @@ dataset/kitchen_supplies/tableware/20ab13747ddd5616ae708a7fcb7b361a/affordance/m
 dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/238cd705ea7b5c0b9f3c9ab16c94cf45/affordance/affordance_annot.json

@@ -0,0 +1,94 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray basin",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold served items",
+                "provide a flat placement area",
+                "contain objects within the rim",
+                "support carrying contents"
+            ],
+            "semantic_description": "Large recessed rectangular center panel in light cream material with a smooth matte hard surface, occupying most of the tray interior and forming the main item-holding area.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side rim to lift the tray from a table",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "pinch an edge of the rim to reposition or rotate the tray",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the rim to stabilize the tray while loading or unloading items",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "retain items on the tray",
+                "provide edge support",
+                "offer a grasping perimeter",
+                "define the tray boundary"
+            ],
+            "semantic_description": "Broad rectangular border in light cream material with a smooth matte hard finish, surrounding the basin with gently raised edges and decorative contouring around the perimeter.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray handle cutout",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert fingers through a side handle opening to lift and carry the tray",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold one handle opening to pull the tray closer across a surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "use both side handle openings for balanced two-sided carrying",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "provide a secure handhold",
+                "enable lifting and carrying",
+                "help pull or reposition the tray",
+                "improve handling stability"
+            ],
+            "semantic_description": "Open handle cutouts integrated into the short sides of the tray, surrounded by light cream material with curved elongated openings and smooth edges.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative corner trim",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the perimeter",
+                "protect corner and edge areas",
+                "add visual accent",
+                "reinforce the tray outline"
+            ],
+            "semantic_description": "Raised ornamental corner and side accents in dark bronze-brown material with a textured metallic appearance, placed around the tray perimeter as decorative trim.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/238cd705ea7b5c0b9f3c9ab16c94cf45/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:866800153a3d9fa97511f07c7fd25220fc5fd40aad88cc2f329292d06e208a64
+size 4310876

dataset/kitchen_supplies/tableware/238cd705ea7b5c0b9f3c9ab16c94cf45/tray_015.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>