Add asset kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a

.gitattributes

@@ -7243,3 +7243,4 @@ dataset/kitchen_supplies/tableware/46dba97a4f095c8aab8a3732c942ad3f/affordance/m
 dataset/kitchen_supplies/tableware/47e8588120595db1b2412c76fd250843/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/4a8f4dd5e24b519994d84fa14edd01b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/4c2a2e5fcc87507e878f06a71b79abf4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/affordance/affordance_annot.json

@@ -0,0 +1,176 @@
+{
+    "affordances": [
+        {
+            "part_name": "top visible napkin face",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the exposed top sheet near an edge or corner to lift the folded napkin",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the top face lightly while repositioning the folded napkin on a surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp the top layer near a free edge to begin unfolding",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide wiping surface",
+                "form outer visible layer",
+                "enable folding and unfolding",
+                "cover the folded napkin"
+            ],
+            "semantic_description": "Large bright lime-green cloth panel forming the outer visible face of the folded napkin, with a soft matte fabric appearance, thin flexible rectangular shape, and subtle stitched border.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_29": {
+                    "confidence": 0.8473973870277405,
+                    "position": [
+                        0.14207735494710505,
+                        -0.1899075973778963,
+                        0.021457405557157472
+                    ],
+                    "orientation": {
+                        "w": 0.5620592281117291,
+                        "xyz": [
+                            -0.47394653763370403,
+                            -0.6361145918836745,
+                            -0.2341416869165714
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.7441583275794983,
+                    "position": [
+                        0.20995329157449305,
+                        -0.10875549353659153,
+                        -0.007646529207704589
+                    ],
+                    "orientation": {
+                        "w": 0.721189844593999,
+                        "xyz": [
+                            -0.005716501976292108,
+                            -0.6926052118720739,
+                            -0.012269887826661132
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.690822184085846,
+                    "position": [
+                        0.1550055725965649,
+                        -0.18173890002071857,
+                        0.0350425073702354
+                    ],
+                    "orientation": {
+                        "w": 0.5196780088280071,
+                        "xyz": [
+                            -0.4678716268412876,
+                            -0.6866393300399181,
+                            -0.1988902671821239
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom visible napkin face",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower exposed layer from an edge to pick up the folded napkin",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the bottom layer to stabilize the napkin during unfolding or placement",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "pinch the lower face at a corner where it protrudes slightly from the stack",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide wiping surface",
+                "form underside of folded stack",
+                "support folded shape",
+                "assist handling and placement"
+            ],
+            "semantic_description": "Bright lime-green fabric face visible as the underside or lower folded section, with a matte soft textile finish, thin flexible sheet form, and broad folded rectangular geometry beneath the top layer.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small exposed edge corner",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch the tiny exposed corner to start separating layers for unfolding",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "provide layer separation point",
+                "indicate exposed fold edge"
+            ],
+            "semantic_description": "Very small exposed lime-green fabric corner region at the edge of the folded napkin, appearing as a tiny pointed textile tip where layers meet.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small folded corner tip",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the tiny protruding corner tip to initiate unfolding",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "use the corner tip as a precise contact point for slight orientation adjustment",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "enable precise corner lifting",
+                "mark a folded corner junction"
+            ],
+            "semantic_description": "Tiny lime-green fabric tip at a folded corner of the napkin, with a soft matte textile look and sharply tapered triangular shape visible only as a small protrusion.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "narrow exposed fold edge",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the narrow exposed folded edge to peel one layer away from another",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "lightly hold this small edge region while aligning the folded napkin",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "define local fold boundary",
+                "provide small lifting edge",
+                "indicate layer overlap"
+            ],
+            "semantic_description": "Small narrow lime-green strip along an exposed folded edge of the napkin, appearing slightly thicker due to overlapping fabric layers with a matte woven texture.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Top and bottom faces are swapped with mask colors/views; red is dominant front/underside, green is opposite face."
+    }
+}

dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ed6845c70a68b3a36baa5d6723c78b17a66224d2b98440410fc5cf225f5c786
+size 679440