Add asset kitchen_supplies/tableware/2f1c3077a8d954e58fc0bf75cf35e849

.gitattributes

@@ -7202,3 +7202,4 @@ dataset/kitchen_supplies/tableware/2a845a4248835312834c60c045d2fc4d/affordance/m
 dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2ae82982e882561d8109c598ca09bb00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2ee7d6837e7f5057b418b5ed708efd6a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2f1c3077a8d954e58fc0bf75cf35e849/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/2f1c3077a8d954e58fc0bf75cf35e849/affordance/affordance_annot.json

@@ -0,0 +1,168 @@
+{
+    "affordances": [
+        {
+            "part_name": "front face of spoon",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the spoon body from the front face against the back face to pick up or reposition it",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "stabilize the spoon by contacting the front face during inspection or handoff",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "food-contact surface on the bowl interior",
+                "front-facing surface for scooping and serving",
+                "visible presentation side of the spoon"
+            ],
+            "semantic_description": "Brown wooden front-facing surface of the spoon with a smooth matte finish and visible fine wood grain, including the concave bowl interior and front side of the tapered handle with a small hanging hole at the end.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.6804627776145935,
+                    "position": [
+                        -0.19574002921581268,
+                        -0.05971548090747092,
+                        0.09156896793865599
+                    ],
+                    "orientation": {
+                        "w": 0.07278516467507144,
+                        "xyz": [
+                            0.7858476075327024,
+                            0.5157449582643422,
+                            0.3333961540918891
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.6404674053192139,
+                    "position": [
+                        -0.032729245722293854,
+                        0.054558670715778135,
+                        0.07731881612562574
+                    ],
+                    "orientation": {
+                        "w": 0.10585187188882822,
+                        "xyz": [
+                            -0.7560859531614007,
+                            -0.5295497941205899,
+                            0.3697383239488276
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.5820830464363098,
+                    "position": [
+                        0.09404630959033966,
+                        -0.08637637029460166,
+                        0.03277881690883078
+                    ],
+                    "orientation": {
+                        "w": 0.25269268225429353,
+                        "xyz": [
+                            -0.5567893609650569,
+                            -0.5288073280240604,
+                            -0.5886381109640352
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "back face of spoon",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the spoon body from the back face against the front face to lift or orient the utensil",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the back side near the handle end to stabilize the spoon during placement or retrieval",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "rear support surface of the spoon",
+                "back side of the handle used during manipulation",
+                "outer surface opposite the food-contact side"
+            ],
+            "semantic_description": "Brown wooden back-facing surface of the spoon with a smooth matte finish and fine wood grain, covering the convex back of the bowl and the rear side of the slender tapered handle with a hanging hole.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.2490750402212143,
+                    "position": [
+                        0.2341172695159912,
+                        0.022769494549720548,
+                        0.08011358106159605
+                    ],
+                    "orientation": {
+                        "w": 0.26780898358917016,
+                        "xyz": [
+                            -0.6282777043713038,
+                            -0.6349871367216416,
+                            0.3610218978080294
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.07176507264375687,
+                    "position": [
+                        0.24343284964561462,
+                        -0.004168516388745047,
+                        0.03805987411760725
+                    ],
+                    "orientation": {
+                        "w": 0.4547426619360925,
+                        "xyz": [
+                            0.5268909090895242,
+                            -0.5606447775084916,
+                            -0.44863405442135773
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.061693452298641205,
+                    "position": [
+                        0.2298969030380249,
+                        0.015590975628583692,
+                        0.06070568659924902
+                    ],
+                    "orientation": {
+                        "w": 0.417321437053058,
+                        "xyz": [
+                            0.5888248231535443,
+                            -0.6128882806211564,
+                            -0.3217080995116699
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.2304685264825821,
+                    "position": [
+                        0.24627232551574707,
+                        0.008394977645366453,
+                        0.06291033202433027
+                    ],
+                    "orientation": {
+                        "w": 0.36707987248205404,
+                        "xyz": [
+                            -0.5952330605752075,
+                            -0.5874844820516028,
+                            0.4072001401834118
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/2f1c3077a8d954e58fc0bf75cf35e849/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dec6f6487dd9f29868fa5f17f90eb9c66069161d9696a1b639a1c478c353bd50
+size 491612