Add asset kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85

.gitattributes

@@ -7396,3 +7396,4 @@ dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/affordance/m
 dataset/kitchen_supplies/tableware/ca06f9b19b4856e7a20d1b42909798b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ccaa4517598756049860ed79de7b1767/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/cd9db611a23f59bdaef3c03291a5863d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/affordance/affordance_annot.json

@@ -0,0 +1,159 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray base",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the tray from below by contacting the broad base during lifting",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "stabilize the tray from underneath while another gripper holds a handle or rim",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "form the main structural base",
+                "support the tray contents from below",
+                "provide underside contact surface",
+                "enable lifting with under-support"
+            ],
+            "semantic_description": "Broad rounded-rectangular tan underside/base panel, likely rigid wood or laminated board, with a smooth matte hard surface and softly rounded corners covering most of the bottom.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_67": {
+                    "confidence": 0.020287642255425453,
+                    "position": [
+                        0.09143515955656767,
+                        0.10212762816809118,
+                        -0.11563775897957385
+                    ],
+                    "orientation": {
+                        "w": 0.602558158681537,
+                        "xyz": [
+                            -0.04650989740472177,
+                            -0.09802336577525572,
+                            -0.7906654884411031
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner wall",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain items on the tray",
+                "provide a raised edge",
+                "help prevent sliding",
+                "bound the serving surface"
+            ],
+            "semantic_description": "Continuous raised inner rim with a colorful ornate printed pattern, hard smooth finish, and rounded rectangular shape running just inside the tray perimeter.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "outer rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rim edge to reposition the tray on a surface",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "grasp the rim when handles are inaccessible",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "stiffen the perimeter",
+                "protect the edge",
+                "frame the tray",
+                "provide a secondary gripping edge"
+            ],
+            "semantic_description": "Wide light beige perimeter rim, likely wood or plastic, with a smooth matte hard surface, rounded profile, and medium-width band surrounding the tray sides.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to lift one side of the tray",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the handle to stabilize and carry the tray with two grippers",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pull the tray across a surface using the handle opening",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold",
+                "enable lifting",
+                "support two-sided carrying",
+                "help pull or reposition the tray"
+            ],
+            "semantic_description": "Small integrated oval cutout handle at one side, beige like the frame, with a smooth hard finish and rounded edges sized for secure side gripping.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to lift one side of the tray",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the handle to stabilize and carry the tray with two grippers",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pull the tray across a surface using the handle opening",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold",
+                "enable lifting",
+                "support two-sided carrying",
+                "help pull or reposition the tray"
+            ],
+            "semantic_description": "Small integrated oval cutout handle on the opposite side, beige like the frame, with a smooth hard finish and rounded edges sized for secure side gripping.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "serving surface",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold dishes and objects",
+                "provide a serving area",
+                "display decorative pattern",
+                "support items within the rim"
+            ],
+            "semantic_description": "Flat upper serving area with a vivid multicolor floral mandala-like print, likely laminated, smooth and hard, occupying most of the tray interior.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/cda07edbb09b5fa8b76eab9672c54c85/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64ccf65f588f5fa112af2b9d4798a6f05b79203536acd9c5307559fe1e1c046b
+size 3786316