Add asset kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff

.gitattributes

@@ -7236,3 +7236,4 @@ dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/affordance/m
 dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/45ea580db9d85c4ab10b1261d4c5c0ff/affordance/affordance_annot.json

@@ -0,0 +1,125 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray base",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the flat base area from above to pick up the tray when empty",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "pinch the tray base against the rim to stabilize the tray during placement",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "support placed items",
+                "provide a flat carrying surface",
+                "contain objects within the raised border",
+                "serve as the main tray platform"
+            ],
+            "semantic_description": "Large rectangular central panel in light cream or beige with a hard smooth matte-to-satin finish, likely carved wood or rigid composite, flat and slightly recessed within the ornate tray.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.0493217371404171,
+                    "position": [
+                        0.09655427583493292,
+                        -0.054331683088093996,
+                        -0.11100916168652475
+                    ],
+                    "orientation": {
+                        "w": 0.9970743179523356,
+                        "xyz": [
+                            -0.043549526256029154,
+                            0.05156016072112124,
+                            -0.03588583382300605
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.04643305018544197,
+                    "position": [
+                        0.09176510968245566,
+                        0.06722657335922122,
+                        -0.1063449417706579
+                    ],
+                    "orientation": {
+                        "w": 0.9824747989916556,
+                        "xyz": [
+                            -0.07287059518248942,
+                            0.04181856498452474,
+                            -0.16638615725681602
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.03025795891880989,
+                    "position": [
+                        -0.060899261152371764,
+                        0.13967250986024737,
+                        -0.10440764180384576
+                    ],
+                    "orientation": {
+                        "w": 0.709047130592868,
+                        "xyz": [
+                            -0.03703051030943598,
+                            -0.00019000816126812925,
+                            0.7041880940495532
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.016620799899101257,
+                    "position": [
+                        0.07808000990189612,
+                        0.13128923578187823,
+                        -0.10979006788693368
+                    ],
+                    "orientation": {
+                        "w": 0.9593109328626273,
+                        "xyz": [
+                            0.014177036775526095,
+                            0.028714935698053945,
+                            0.2805298525760812
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "tray rim with handles",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one side handle opening to lift and carry the tray",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "grasp the outer rim from the side to reposition the tray",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold opposite rim sections to stabilize the tray during transport",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "provide handhold for lifting",
+                "retain items with a raised border",
+                "protect contents from sliding off",
+                "frame and stiffen the tray"
+            ],
+            "semantic_description": "Ornate outer frame and side handles in light cream or beige, appearing hard and carved with a satin finish, smooth overall but embossed with decorative floral relief around the tray perimeter.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfac4ac31a92f7ae354a1ea551eabf38cede7d0676ec9922e5c922930e7e8cd2
+size 3795460

dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/tray_030.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>