Add asset kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d

.gitattributes

@@ -7205,3 +7205,4 @@ dataset/kitchen_supplies/tableware/2ee7d6837e7f5057b418b5ed708efd6a/affordance/m
 dataset/kitchen_supplies/tableware/2f1c3077a8d954e58fc0bf75cf35e849/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2f921ebe9eb15e1696740c24bf4891c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/affordance/affordance_annot.json

@@ -0,0 +1,37 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray along an outer edge to pick it up from a table",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "pinch a corner or rim area to reposition or rotate the tray",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold opposite side edges to stabilize the tray while transporting it",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "support carried items",
+                "provide a flat serving surface",
+                "contain small items within the shallow rim",
+                "enable lifting and transport",
+                "stabilize objects during serving"
+            ],
+            "semantic_description": "A shallow square tray with rounded corners, made of white hard plastic or ceramic-like material with a smooth slightly glossy finish, raised rim, embossed floral scrollwork on the top, and a broad flat central surface.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:893bac747d41db2094bf52264a5539c3a71c08052f4e2d098efcd8cfc7bcf1ce
+size 3773016

dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/tray_026.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>