Add asset kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba

.gitattributes

@@ -8444,3 +8444,4 @@ dataset/kitchen_supplies/tableware/178b2a2c06a15334830c6f319e0acfc7/affordance/m
 dataset/kitchen_supplies/tableware/17b440cfc2875010b7b71bce161293d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/181a276df94958698e3ed0e2548ef55c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/affordance/affordance_annot.json

@@ -0,0 +1,60 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray rim",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer rim from the side to lift the tray",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "pinch the rim at a corner to reorient the tray",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the rim to stabilize the tray while placing or sliding it",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide grasping edge",
+                "retain items on the tray",
+                "define the tray boundary",
+                "stabilize carried contents"
+            ],
+            "semantic_description": "Raised off-white rim, likely molded plastic or melamine, with a hard smooth slightly glossy surface and scalloped rectangular outline around the tray perimeter, decorated with subtle embossed swirls.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray base",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support and lift the tray from underneath by contacting the broad bottom surface",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the tray body along the flat underside while stabilizing with another finger on the rim",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "support placed items",
+                "provide flat carrying surface",
+                "distribute load across the tray",
+                "present decorative surface"
+            ],
+            "semantic_description": "Flat central off-white panel with a hard smooth slightly glossy finish, broad rectangular shape inset within the rim, and ornate embossed floral scrollwork on the top face.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45d9caf838025cfecfa6222a7077fea7cdd22dcbe8d11ae7ad2c7e7c4f92d4d1
+size 3780680

dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/tray_020.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>