Add asset kitchen_supplies/tableware/ecbd2adf8f0c5499943777c6930e90c6

.gitattributes

@@ -7422,4 +7422,5 @@ dataset/kitchen_supplies/tableware/e06fce747ae153fe8328add42605b2b4/affordance/m
 dataset/kitchen_supplies/tableware/e41112cb79905b8d89ecaacc2dafc0de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e4e7abce37b95cdcaf30c74936ce22db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e67a8e0b4b0250f0a99d2e4d43cb55e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ecbd2adf8f0c5499943777c6930e90c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/ecbd2adf8f0c5499943777c6930e90c6/affordance/affordance_annot.json

@@ -0,0 +1,201 @@
+{
+    "affordances": [
+        {
+            "part_name": "plate body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer rim/body to lift and carry the plate",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the side of the plate body to reposition it on a table",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "stabilize the plate by pinching the narrow pointed end or rim while loading contents",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "support contents",
+                "provide the main structure",
+                "enable carrying",
+                "form the outer rim"
+            ],
+            "semantic_description": "Leaf-shaped bright green plate body made of hard plastic with a smooth slightly glossy finish, a shallow concave form, and a broad rounded center tapering to pointed ends.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9645581841468811,
+                    "position": [
+                        -0.10915767727419734,
+                        -0.11779522290453315,
+                        0.010578570421785116
+                    ],
+                    "orientation": {
+                        "w": 0.30512804452966485,
+                        "xyz": [
+                            -0.6793987487476079,
+                            -0.34886314743355873,
+                            -0.5688661714361635
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9610475301742554,
+                    "position": [
+                        -0.10638753650709987,
+                        -0.12239129235967994,
+                        -0.005157771025551483
+                    ],
+                    "orientation": {
+                        "w": 0.6256382316941257,
+                        "xyz": [
+                            -0.2898832018579045,
+                            0.6436632090663136,
+                            0.33202741696689975
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9583523869514465,
+                    "position": [
+                        -0.0904013472609222,
+                        0.1270406828261912,
+                        0.01757321273908019
+                    ],
+                    "orientation": {
+                        "w": 0.2559965343033992,
+                        "xyz": [
+                            0.6995932294213116,
+                            -0.3511741887586921,
+                            0.5671964182910386
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9581992626190186,
+                    "position": [
+                        0.06832958431914449,
+                        0.1406429843045771,
+                        0.051662042271345854
+                    ],
+                    "orientation": {
+                        "w": 0.4088272783032302,
+                        "xyz": [
+                            0.45107293253632696,
+                            -0.7580851298163234,
+                            0.23388117068207928
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.957597553730011,
+                    "position": [
+                        0.062248912174254656,
+                        0.14202028373256326,
+                        0.05044718785211444
+                    ],
+                    "orientation": {
+                        "w": 0.24013324414369147,
+                        "xyz": [
+                            0.7420396351919262,
+                            0.4633732504272622,
+                            -0.4207118201925555
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9573508501052856,
+                    "position": [
+                        -0.08791780052706599,
+                        0.132397694978863,
+                        0.01518516568467021
+                    ],
+                    "orientation": {
+                        "w": 0.5723200776117147,
+                        "xyz": [
+                            0.35450473748668554,
+                            0.6956605909502807,
+                            -0.2506640422173141
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9570651650428772,
+                    "position": [
+                        -0.08439985988661647,
+                        0.12141825119033456,
+                        0.04715613229200244
+                    ],
+                    "orientation": {
+                        "w": 0.4356197867628151,
+                        "xyz": [
+                            0.4110630443557594,
+                            0.7639727193622667,
+                            -0.2400172056664225
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner bowl surface",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold fruit",
+                "contain small items",
+                "provide a resting surface",
+                "keep contents centered"
+            ],
+            "semantic_description": "Recessed bright green interior basin with hard smooth plastic, a slightly glossy finish, and a shallow oval dish shape centered within the plate body.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside foot ring",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support on table",
+                "stabilize placement",
+                "elevate the underside slightly"
+            ],
+            "semantic_description": "Oval green underside foot ring in hard smooth plastic with a slightly glossy finish, positioned centrally on the bottom and protruding subtly to contact the table.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stem-like handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hook the small stem-like protrusion to lift or pull the lightweight plate",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "use the stem-like protrusion as a secondary stabilizing grip while repositioning the plate",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "provide a small handle point",
+                "aid lifting or repositioning",
+                "serve as a decorative stem detail"
+            ],
+            "semantic_description": "Small bright green stem-like protrusion of smooth hard plastic near one side of the plate rim, slightly raised and rounded where it joins the body.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/ecbd2adf8f0c5499943777c6930e90c6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b82bdac6c74ef2da03b4666689d6624ae4fc9f45c5f6899077f583ca071293b
+size 1829132