Add asset kitchen_supplies/tableware/348d3939a12f56379526cdbedc134ff4

.gitattributes

@@ -7209,3 +7209,4 @@ dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/affordance/m
 dataset/kitchen_supplies/tableware/310b0000b20253338c793282cecc0907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/33292919909f584b994399d806e7386f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/348d3939a12f56379526cdbedc134ff4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/348d3939a12f56379526cdbedc134ff4/348d3939a12f56379526cdbedc134ff4.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>

dataset/kitchen_supplies/tableware/348d3939a12f56379526cdbedc134ff4/affordance/affordance_annot.json

@@ -0,0 +1,91 @@
+{
+    "affordances": [
+        {
+            "part_name": "eating surface",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold food",
+                "provide a flat serving area",
+                "support plating",
+                "present food"
+            ],
+            "semantic_description": "Large shallow off-white ceramic center with a hard smooth slightly glossy finish, broad oval shape, and gently concave top surface inside the plate rim.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside of plate",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the plate from below at the broad underside to lift it off a surface",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the underside while reorienting or placing the plate",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support the plate on a table",
+                "provide structural base",
+                "stabilize placed food"
+            ],
+            "semantic_description": "Broad off-white ceramic bottom surface with a hard smooth slightly glossy finish, shallow oval form, and plain unmarked underside spanning most of the plate base.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.0326090082526207,
+                    "position": [
+                        0.023456605940737063,
+                        -0.027637221151962876,
+                        -0.10235469677718356
+                    ],
+                    "orientation": {
+                        "w": 0.9855395339299694,
+                        "xyz": [
+                            -0.06656188017798942,
+                            0.04899628034945713,
+                            -0.14792128879977573
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the outer rim at the edge to pick up the plate",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the rim to carry or reposition the plate",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the rim to stabilize the plate while loading or unloading food",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide edge grip",
+                "help contain food",
+                "form a raised boundary",
+                "stabilize handling"
+            ],
+            "semantic_description": "Thin off-white ceramic outer ring with a hard smooth slightly glossy finish, rounded oval edge, and raised perimeter running around the plate.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/348d3939a12f56379526cdbedc134ff4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf9fc8947c0a1ec40f9a9059731c4cd990f6562bdef246115801dbcd69810fb2
+size 1454204