Add asset kitchen_supplies/tableware/1ce9c1edde085f3fb6f5ff45c4a2d172

.gitattributes

@@ -8449,3 +8449,4 @@ dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/affordance/m
 dataset/kitchen_supplies/tableware/1ad89a48b7895f06a2e9ce1650048631/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1b441170e15455b499d6b94b337fb615/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1ce9c1edde085f3fb6f5ff45c4a2d172/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/1ce9c1edde085f3fb6f5ff45c4a2d172/1ce9c1edde085f3fb6f5ff45c4a2d172.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/1ce9c1edde085f3fb6f5ff45c4a2d172/affordance/affordance_annot.json

@@ -0,0 +1,101 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray basin",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray basin from opposite inner walls to pick up the tray",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the basin area to stabilize the tray during placement",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "hold items",
+                "provide a flat support surface",
+                "contain small objects within the tray",
+                "form the main body of the tray"
+            ],
+            "semantic_description": "Large square black plastic basin with a matte to lightly satin finish, hard smooth surface, shallow concave shape, and rounded corners forming the central item-holding area.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.7913177013397217,
+                    "position": [
+                        0.08970820985268801,
+                        0.21313984075095505,
+                        -0.0069543725840048864
+                    ],
+                    "orientation": {
+                        "w": 0.5075298179439061,
+                        "xyz": [
+                            0.5038739620007732,
+                            0.4872722244754246,
+                            -0.5010891074152781
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner side wall",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the side wall and opposite rim to lift the tray",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "grasp a side wall section to reorient the tray",
+                    "confidence": 0.51
+                }
+            ],
+            "functional_labels": [
+                "retain items",
+                "provide shallow containment",
+                "guide objects toward the center",
+                "stiffen the tray body"
+            ],
+            "semantic_description": "Shallow black plastic wall band with a smooth hard surface and slight sheen, running around the tray perimeter between the flat base and outer lip.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "outer rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer rim from the side to pick up the tray",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the rim to carry or reposition the tray",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "pinch the rim to stabilize the tray while loading or unloading items",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a grasp edge",
+                "support carrying",
+                "stiffen the perimeter",
+                "protect the tray edge"
+            ],
+            "semantic_description": "Raised rounded black plastic rim with a slightly glossy smooth finish, hard texture, and continuous border around the tray's top edge, making the perimeter thicker and easier to grip.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/1ce9c1edde085f3fb6f5ff45c4a2d172/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7abe7bb368ffcf48b2314b691d7dc2daa788d98216af262286776e9024b4fb71
+size 1095680