Add asset kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0

.gitattributes

@@ -7221,3 +7221,4 @@ dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/affordance/m
 dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/39ec8df0a6e0538482d30776eb7165ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/3b8bf4a0f83d5ad3a25c6375602d06f0.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/3b8bf4a0f83d5ad3a25c6375602d06f0/affordance/affordance_annot.json

@@ -0,0 +1,78 @@
+{
+    "affordances": [
+        {
+            "part_name": "wire bowl body",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim or side wall to lift and carry the fruit bowl",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the side wall to reposition the bowl on a surface",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "stabilize the bowl by pinching the outer wall during loading or unloading fruit",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain fruit",
+                "support stored items",
+                "provide the main grasp surface",
+                "form the bowl structure",
+                "allow visibility and airflow through the sides"
+            ],
+            "semantic_description": "Large round open bowl made of dark gray to black metal wire with a matte slightly reflective finish, hard smooth rods and mesh, an airy latticed side wall, and a solid circular base at the bottom.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_34": {
+                    "confidence": 0.9661593437194824,
+                    "position": [
+                        0.0845773103646934,
+                        0.1544312781188637,
+                        0.14407903514802456
+                    ],
+                    "orientation": {
+                        "w": 0.08112667948211368,
+                        "xyz": [
+                            0.4417899542128197,
+                            -0.8881566758370287,
+                            0.09704543986690672
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "vertical support rod",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a support rod to rotate or slightly reposition the empty bowl",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "use a support rod as a temporary stabilizing hold while setting the bowl down",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "reinforce the side wall",
+                "connect rim to lower structure",
+                "help maintain bowl shape",
+                "provide local structural support"
+            ],
+            "semantic_description": "Thin dark metal rod with a matte finish and hard smooth feel, running vertically along the bowl side as a narrow structural member between the rim and lower basket.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/3b8bf4a0f83d5ad3a25c6375602d06f0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ac39ff16126b71726a645301fd5ad3944c047107ae364daf1721bd39af40df6
+size 1335300