Add asset kitchen_supplies/tableware/4604381c57625dec8bac1610fce9b0e0

.gitattributes

@@ -7237,3 +7237,4 @@ dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/affordance/m
 dataset/kitchen_supplies/tableware/438e9604c6c656faad7165a0ac5aa83c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/45da844f19165e7fb9744c087620b4d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4604381c57625dec8bac1610fce9b0e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/4604381c57625dec8bac1610fce9b0e0/affordance/affordance_annot.json

@@ -0,0 +1,165 @@
+{
+    "affordances": [
+        {
+            "part_name": "long side wall frame",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the long outer side wall or top rim to lift and move the tray",
+                    "confidence": 0.75
+                },
+                {
+                    "scenario": "pinch the long side wall to stabilize the tray during loading or unloading",
+                    "confidence": 0.65
+                }
+            ],
+            "functional_labels": [
+                "retain items inside the tray",
+                "provide side support",
+                "form the tray rim",
+                "offer a secondary grasp surface"
+            ],
+            "semantic_description": "Raised long wall sections running along the tray perimeter, colored dark gray painted wood with a matte smooth finish and straight rectangular profile.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_51": {
+                    "confidence": 0.7703418731689453,
+                    "position": [
+                        -0.2068111808039248,
+                        -0.05331515605212189,
+                        0.050910036894492805
+                    ],
+                    "orientation": {
+                        "w": 0.1995059184361036,
+                        "xyz": [
+                            -0.8310359389719708,
+                            -0.11673809231886312,
+                            -0.5059139002317429
+                        ]
+                    }
+                },
+                "grasp_53": {
+                    "confidence": 0.7527404427528381,
+                    "position": [
+                        -0.16215144703164697,
+                        0.008982713421573862,
+                        0.09876272070687264
+                    ],
+                    "orientation": {
+                        "w": 0.25023696691201097,
+                        "xyz": [
+                            0.010785521351204395,
+                            0.967452469046107,
+                            -0.036067340579136895
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "tray interior base",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support placed items",
+                "provide a flat carrying surface",
+                "contain objects within the rim",
+                "display decorative pattern"
+            ],
+            "semantic_description": "Large flat interior panel in pale beige wood with a matte smooth finish, subtle fine grain, and brown floral leaf prints covering most of the tray bottom.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the tray structure",
+                "contact the table surface",
+                "provide underside stability",
+                "distribute carried load"
+            ],
+            "semantic_description": "Broad rectangular underside panel in light beige wood with a matte finish, visible wood grain, and faint floral decoration across the bottom surface.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle end panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp through the cutout handle to pull the tray closer across a surface",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the handle end while lifting the tray with the opposite handle",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "use the handle end to stabilize the tray while repositioning it",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "pull the tray",
+                "assist lifting",
+                "form one short end wall with handle opening"
+            ],
+            "semantic_description": "Short end panel in light natural wood with a matte smooth surface and a narrow horizontal slot handle, mounted at one end of the tray.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "opposite handle end panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp through the cutout handle to pull the tray closer across a surface",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the handle end while lifting the tray with the opposite handle",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "use the handle end to stabilize the tray while repositioning it",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "pull the tray",
+                "assist lifting",
+                "form the opposite short end wall with handle opening"
+            ],
+            "semantic_description": "Matching short end panel in light natural wood with a matte smooth surface and a narrow horizontal slot handle, attached at the opposite end of the tray.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small handle-end corner cap",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the handle end panel to the long side wall",
+                "finish the tray corner",
+                "provide local corner reinforcement"
+            ],
+            "semantic_description": "Small light wood corner piece at the top corner beside one handle opening, matching the handle panel in color and finish.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle end panel colors/material and pink part identity are incorrect; mask shows pink as small side-wall segment, not a handle corner cap."
+    }
+}

dataset/kitchen_supplies/tableware/4604381c57625dec8bac1610fce9b0e0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:606d25a5fc61361e6b37f9b56d2094a4ec46c665d5c7dc740cc5a9705e2b1205
+size 3786048

dataset/kitchen_supplies/tableware/4604381c57625dec8bac1610fce9b0e0/tray_006.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>