Add asset kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9

.gitattributes

@@ -7290,3 +7290,4 @@ dataset/kitchen_supplies/tableware/73dd9b597d1059cfbe12aaf959759967/affordance/m
 dataset/kitchen_supplies/tableware/7621a3f903ff5f948e7674e7dd4e8446/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/77f5ecd740d05f53a1c89eba5ef55688/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/79eeb645ef425a8bb62e60e176cfb092/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/affordance/affordance_annot.json

@@ -0,0 +1,37 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray by opposite raised rim edges to lift and carry it",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch one side of the rim to pull or reposition the tray on a surface",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the tray body at the sides to stabilize it while loading or unloading items",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support placed items",
+                "contain small objects with the raised rim",
+                "provide a carrying surface",
+                "stabilize contents during transport",
+                "present or serve items"
+            ],
+            "semantic_description": "Single-piece rectangular tray with softly scalloped edges, in off-white carved-looking material with a matte to satin finish, hard smooth feel, ornate floral relief, and a shallow raised rim around the top surface.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0806479c545c420c13df3f4b036555ca2210c70ca34e4637cc0c95ddc7f01ccc
+size 3777008

dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/tray_013.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>1</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>