Add asset kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80

.gitattributes

@@ -7200,4 +7200,4 @@ dataset/kitchen_supplies/storage/fe9026d72bd954d380701384e4a7f6af/affordance/mes
 dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2a845a4248835312834c60c045d2fc4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/affordance/affordance_annot.json

@@ -0,0 +1,64 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray rim/body from opposite sides to lift the tray",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "pinch an outer corner or edge of the tray body to reposition it on a surface",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the tray body to stabilize it while loading or unloading items",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "support carried items",
+                "provide a flat serving surface",
+                "contain items within raised edges",
+                "stabilize the tray structure"
+            ],
+            "semantic_description": "Large rectangular cream-colored tray body, likely painted wood or rigid composite, with a glossy smooth hard finish, raised rounded rim, decorative gold-toned corner flourishes, and a broad flat central surface.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray handle",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side handle opening to lift and carry the tray",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold one handle to pull or slide the tray across a surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp a handle to stabilize and orient the tray during placement",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold for lifting",
+                "enable carrying the tray",
+                "help pull or reposition the tray",
+                "aid orientation during placement"
+            ],
+            "semantic_description": "Small oval side handle integrated into each short side, cream-colored with ornate gold-toned detailing, hard smooth glossy surface, and an open cutout sized for gripping near the tray edge.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc7f311a2fb099d8203147f1280156f7d51c568855ecc3a78f8febd304432d8
+size 4087564

dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/tray_064.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>