Add asset kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d

.gitattributes

@@ -8457,3 +8457,4 @@ dataset/kitchen_supplies/tableware/200521cfb54c59799efc51ffd95f9f42/affordance/m
 dataset/kitchen_supplies/tableware/20d047546b6259dfa08eb92c4dd6ca41/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/20ab13747ddd5616ae708a7fcb7b361a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/2151ac4c6a865383afde0fffffd3fc7d.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>

dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/affordance/affordance_annot.json

@@ -0,0 +1,126 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray sidewall or basin edge to pick up or reposition the tray when not using the handles",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the tray body to stabilize it during placement on a surface",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "support food or objects",
+                "form the main structure",
+                "provide sidewalls for retention"
+            ],
+            "semantic_description": "Large rectangular silver metal roasting tray body with a smooth reflective finish, rounded corners, shallow deep-pan shape, and broad interior basin forming most of the object.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rolled rim",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rim to lift or reposition the empty tray",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the rim to stabilize the tray while loading or unloading contents",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "stiffen the tray edge",
+                "provide a gripping edge",
+                "retain contents",
+                "protect the upper perimeter"
+            ],
+            "semantic_description": "Thin continuous silver metal lip around the tray top edge with a smooth reflective finish, rounded profile, and hard texture framing the opening.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left wire handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the tray from one side",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to pull the tray in or out of an oven or rack",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the tray during repositioning",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "enable lifting",
+                "assist pulling from oven",
+                "help stabilize orientation"
+            ],
+            "semantic_description": "Rectangular silver wire-metal side handle with a smooth reflective finish and hard texture, medium-sized and projecting outward from one short side of the tray.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right wire handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the tray from the opposite side",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to pull the tray in or out of an oven or rack",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the tray during repositioning",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "enable lifting",
+                "assist pulling from oven",
+                "help stabilize orientation"
+            ],
+            "semantic_description": "Rectangular silver wire-metal side handle with a smooth reflective finish and hard texture, medium-sized and projecting outward from the opposite short side of the tray.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left handle connector bar",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect one wire handle to the tray",
+                "reinforce the handle attachment",
+                "transfer load from handle to tray wall"
+            ],
+            "semantic_description": "Narrow silver metal connector bar between a side wire handle and the tray wall, with a smooth reflective finish and hard texture, positioned beside one handle on a short side of the tray.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Missing one handle connector part and left/right handle colors are swapped versus mask views."
+    }
+}

dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c445e731f911c945148fdc7e783fcef127ee27d7572bc3a415f94876e2ec595
+size 1030772