Add asset kitchen_supplies/tableware/ca06f9b19b4856e7a20d1b42909798b2

.gitattributes

@@ -7393,3 +7393,4 @@ dataset/kitchen_supplies/tableware/c74419bc89df5c5c9ffa7c7c58b9f458/affordance/m
 dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c9958801bf4257b1b261bfef4fadacbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ca06f9b19b4856e7a20d1b42909798b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/ca06f9b19b4856e7a20d1b42909798b2/affordance/affordance_annot.json

@@ -0,0 +1,97 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper folded layer of napkin",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the exposed upper flap edge to lift and begin unfolding the napkin",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp the visible top folded section to reposition the napkin on a table",
+                    "confidence": 0.75
+                },
+                {
+                    "scenario": "hold the upper layer to separate it from the layer underneath during refolding",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "provide an exposed graspable flap",
+                "form the visible top fold",
+                "enable unfolding and refolding",
+                "cover part of the lower layer"
+            ],
+            "semantic_description": "Visible red cloth flap forming the upper folded portion of the napkin, with a matte fabric surface, soft flexible texture, triangular shape, slight wrinkles, and no visible markings.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.7689918875694275,
+                    "position": [
+                        0.16688958182930946,
+                        0.25305779185146093,
+                        -0.004571652855247521
+                    ],
+                    "orientation": {
+                        "w": 0.5292476027218671,
+                        "xyz": [
+                            0.5187550672941569,
+                            0.45308060360957836,
+                            -0.49548776150634777
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.8551713824272156,
+                    "position": [
+                        -0.24510158225893974,
+                        0.0012054946273565292,
+                        0.005541550111502147
+                    ],
+                    "orientation": {
+                        "w": 0.12596949376634345,
+                        "xyz": [
+                            0.6962936589859748,
+                            -0.11242738828452437,
+                            0.697615158565018
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower/base folded layer of napkin",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch an edge of the base layer to pick the napkin up from a flat surface",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "grasp the lower layer to spread the napkin open",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the base layer to stabilize the napkin while adjusting the upper fold",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "support the folded shape",
+                "provide the underlying base layer",
+                "contact the table surface",
+                "enable spreading and unfolding"
+            ],
+            "semantic_description": "Red fabric base portion of the folded napkin, generally larger than the upper flap, with a matte woven cloth appearance, flexible soft texture, broad triangular form, and mild edge creasing without markings.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and layer identities are swapped; top visible layer is green, lower/base layer is red."
+    }
+}

dataset/kitchen_supplies/tableware/ca06f9b19b4856e7a20d1b42909798b2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e553273ca1da44e425fde872b679cca807ea86cb7b62695aa4f32f46321a541f
+size 1489460