Add asset kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26

.gitattributes

@@ -7228,3 +7228,4 @@ dataset/kitchen_supplies/tableware/3be115aa83c45def8b804002b0765723/affordance/m
 dataset/kitchen_supplies/tableware/3c1abed98182516d9ede2603312a2abb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/3cfba05326d2572f8d86c917bd464664/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/affordance/affordance_annot.json

@@ -0,0 +1,102 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the raised outer rim from the side to lift or reposition the tray",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "pinch opposite rim sections to carry the tray with a parallel gripper",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the rim to stabilize the tray while loading or unloading items",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide a gripping edge",
+                "retain items on the tray",
+                "define the tray boundary",
+                "help stabilize carried contents"
+            ],
+            "semantic_description": "Raised cream or ivory plastic rim with a smooth slightly glossy hard surface, broad rounded-square border, and embossed ornamental detailing around the perimeter.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray base",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the tray from underneath by the base when lifting from a flat surface",
+                    "confidence": 0.59
+                },
+                {
+                    "scenario": "contact the underside base during two-sided pickup to help support the load",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "support placed items",
+                "provide the main carrying surface",
+                "distribute load across the tray",
+                "form the tray floor"
+            ],
+            "semantic_description": "Large flat cream plastic base with a smooth slightly glossy hard finish and rounded-square shape, forming the main floor and underside of the tray.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed decorative surface pattern",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the tray interior",
+                "provide ornamental styling",
+                "visually emphasize the center and border of the serving area"
+            ],
+            "semantic_description": "Gold-toned printed ornamental motifs on the white interior surface, including a large central medallion and multiple border flourishes with a flat printed appearance rather than raised structure.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side embossed ornament",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the rim side",
+                "provide ornamental styling",
+                "accent the side profile"
+            ],
+            "semantic_description": "Small raised cream embossed decorative patch on one side section of the rim, matching the tray body in color and material with a carved-looking texture.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protrusion ornament",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the tray corner",
+                "accent the corner profile",
+                "provide ornamental styling"
+            ],
+            "semantic_description": "Small raised cream ornamental protrusion at a tray corner, made of the same hard slightly glossy plastic as the tray body and visibly jutting out beyond the rounded corner edge.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Jade/Burnt Orange parts misidentified; mask shows multiple printed motifs and ornaments on different rim areas, not single side patch."
+    }
+}

dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1be9ab02426ead98459d70691166b5ba6c99f7d20e67de34d2107f51c0733dfc
+size 3796696

dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/tray_025.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>5</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>