Add asset kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a

.gitattributes

@@ -8665,3 +8665,4 @@ dataset/kitchen_supplies/utensils/479f8139ddd6500c8c36ce7a4607ca33/affordance/me
 dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/4b7a0c12c19b59a9916c31cec19d7f20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/affordance/affordance_annot.json

@@ -0,0 +1,68 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray interior",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold items",
+                "provide a flat carrying surface",
+                "contain small objects within the rim",
+                "support serving"
+            ],
+            "semantic_description": "Large rectangular inner base of the tray in warm orange-brown wood with visible grain, a smooth semi-matte hard finish, and a flat shallow recessed surface centered inside the rim.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray rim and side walls",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls or rim to lift and carry the tray",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp near the cutout handle area to pull or reposition the tray",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold opposite side walls to stabilize the tray while loading or unloading items",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "provide structural frame",
+                "retain items with raised walls",
+                "offer grasping edges and handle cutouts",
+                "support lifting and carrying"
+            ],
+            "semantic_description": "Raised outer frame of the tray with integrated handle cutouts, made of orange-brown wood with visible grain, a smooth semi-matte hard surface, rounded rectangular shape, and medium-thick walls around the perimeter.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_18": {
+                    "confidence": 0.918442964553833,
+                    "position": [
+                        0.043411912862211466,
+                        -0.17852275725454092,
+                        0.11072225822135806
+                    ],
+                    "orientation": {
+                        "w": 0.11689170423704538,
+                        "xyz": [
+                            -0.7477710768780945,
+                            0.6535789176953463,
+                            -0.003056862658634444
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:499af543fbf26baddfbee35938dc859247ecf5c13d1d9628813809f079833267
+size 677568