Add asset kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb

.gitattributes

@@ -7238,3 +7238,4 @@ dataset/kitchen_supplies/tableware/438e9604c6c656faad7165a0ac5aa83c/affordance/m
 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/4604381c57625dec8bac1610fce9b0e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/affordance/affordance_annot.json

@@ -0,0 +1,37 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim area from opposite sides to lift and move the tray",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch an edge section to slide or reorient the tray on a surface",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "support the tray body from below with a gripper or suction tool to pick it up",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support items placed on top",
+                "provide a flat serving surface",
+                "contain objects shallowly within the raised edge",
+                "stabilize items with the rim",
+                "main structural body"
+            ],
+            "semantic_description": "Round off-white tray body, likely ceramic or molded plastic, with a hard smooth slightly matte surface, shallow profile, ornate embossed floral and scroll patterns on top, and a gently raised scalloped rim around the perimeter.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74a6c21a6154e5ef1eb3e0d246728fd7e41a7ac90e3f82e6ba7f5faa2133c916
+size 3777008

dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/tray_017.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>