Add asset kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce

.gitattributes

@@ -7407,3 +7407,4 @@ dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/affordance/m
 dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d8f26a572a3c5f238191ede8cc471211/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/affordance/affordance_annot.json

@@ -0,0 +1,164 @@
+{
+    "affordances": [
+        {
+            "part_name": "spoon bowl",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold a small amount of food",
+                "scoop soft material",
+                "contact food during feeding",
+                "serve as the food-contacting bowl"
+            ],
+            "semantic_description": "Shallow oval spoon bowl in warm honey-brown wood with a smooth matte finish, visible fine grain, and a gently concave interior at the wider working end.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spoon handle and neck",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the narrow handle/neck area to pick up and manipulate the spoon",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the rounded rear end to orient the spoon for scooping or serving",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pinch along the handle to stabilize the spoon during placement",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "provide the main grip",
+                "enable manipulation and orientation",
+                "connect handle to bowl",
+                "support carrying the scoop end"
+            ],
+            "semantic_description": "Elongated rear portion of the wooden spoon, including the narrow neck and rounded handle end, in medium warm brown wood with visible grain, a smooth matte finish, and a gently tapered shape opposite the bowl.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.31760722398757935,
+                    "position": [
+                        -0.04079764150083065,
+                        -0.010496917355339974,
+                        0.09847305645234883
+                    ],
+                    "orientation": {
+                        "w": 0.1639009840689042,
+                        "xyz": [
+                            -0.6801508303688159,
+                            0.7038550743527081,
+                            -0.12296076479023277
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.31247618794441223,
+                    "position": [
+                        -0.00600484199821949,
+                        0.018640886817593127,
+                        -0.09208439360372722
+                    ],
+                    "orientation": {
+                        "w": 0.6864325420662225,
+                        "xyz": [
+                            -0.015447958087870127,
+                            0.15172760211457015,
+                            -0.7110207173774764
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.30573776364326477,
+                    "position": [
+                        -0.0047783926129341125,
+                        0.021515715692657977,
+                        -0.09135279129259288
+                    ],
+                    "orientation": {
+                        "w": 0.6782643954522107,
+                        "xyz": [
+                            0.09705807635651018,
+                            -0.05800763875657533,
+                            0.7260662872780332
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.27928394079208374,
+                    "position": [
+                        -0.038761576637625694,
+                        -0.008872549224179238,
+                        0.10379367251880467
+                    ],
+                    "orientation": {
+                        "w": 0.11622536649336233,
+                        "xyz": [
+                            -0.7234116947882041,
+                            0.6784511974854713,
+                            -0.05358317513615427
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.23920318484306335,
+                    "position": [
+                        0.0016398802399635315,
+                        0.02172918972792104,
+                        0.09470093180425465
+                    ],
+                    "orientation": {
+                        "w": 0.07284948644859554,
+                        "xyz": [
+                            0.7991401841407006,
+                            -0.5905795909949099,
+                            0.08534439123942607
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.17048564553260803,
+                    "position": [
+                        0.014301173854619265,
+                        -0.03389794396935031,
+                        -0.09142434666864574
+                    ],
+                    "orientation": {
+                        "w": 0.6633368705305902,
+                        "xyz": [
+                            -0.10703106039444826,
+                            -0.07720132308872807,
+                            -0.7365924952230187
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.15311461687088013,
+                    "position": [
+                        0.024308010935783386,
+                        -0.011906165804248303,
+                        -0.09035238693468273
+                    ],
+                    "orientation": {
+                        "w": 0.7421189749258269,
+                        "xyz": [
+                            -0.03241086001715987,
+                            -0.006675418244619702,
+                            0.6694508211954389
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors are swapped: green marks bowl side, red marks back/convex side and handle; part identities/descriptions mismatch segmented parts."
+    }
+}

dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:131d81b5ecd557068c1540297831c311442482524ae0e6ef2ba3926c58d0b981
+size 1081296