Add asset kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235

.gitattributes

@@ -7422,4 +7422,4 @@ 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/ec590d3a99495ecc95371a30ad4bf1d5/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/e91b2716f7e25fa781321cf315908235/affordance/affordance_annot.json

@@ -0,0 +1,116 @@
+{
+    "affordances": [
+        {
+            "part_name": "spoon bowl",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold small amounts of food or liquid",
+                "scoop",
+                "present contents for eating",
+                "contact food"
+            ],
+            "semantic_description": "Shallow oval bowl in light beige wood with a smooth matte finish and hard polished texture, forming the widened front end of the spoon with a gently concave interior.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spoon handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and manipulate the spoon",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the handle to dip or scoop with the bowl",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the handle end to place or reorient the spoon on a surface",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide primary grip",
+                "control spoon orientation",
+                "reach into containers",
+                "connect to the bowl"
+            ],
+            "semantic_description": "Long narrow light beige wooden handle with a smooth matte finish and hard polished texture, extending from the bowl to the rear and showing a small dark printed logo near the end.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9490808844566345,
+                    "position": [
+                        -0.0016183273401111364,
+                        0.09746193559840322,
+                        -0.006840595682660933
+                    ],
+                    "orientation": {
+                        "w": 0.5043214158750946,
+                        "xyz": [
+                            0.49172029071614465,
+                            0.4779295689751004,
+                            -0.524837491312354
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9146703481674194,
+                    "position": [
+                        -0.05216495553031564,
+                        -0.0861254739575088,
+                        -0.004716720139185782
+                    ],
+                    "orientation": {
+                        "w": 0.6256854247875466,
+                        "xyz": [
+                            -0.35681277567142267,
+                            0.6019937686999172,
+                            0.3446823099211108
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9062508940696716,
+                    "position": [
+                        -0.05462249228730798,
+                        -0.08425066201016307,
+                        0.004021296104838257
+                    ],
+                    "orientation": {
+                        "w": 0.6090613183599402,
+                        "xyz": [
+                            -0.37332210874943556,
+                            0.6239011459799122,
+                            0.3168947359005478
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.8975484371185303,
+                    "position": [
+                        -0.058189591858536005,
+                        -0.08330862550064921,
+                        0.009976881849070196
+                    ],
+                    "orientation": {
+                        "w": 0.6042010978283564,
+                        "xyz": [
+                            -0.3758051742616104,
+                            0.6372155761208124,
+                            0.29608751059480765
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dbb1f50d938f4fcd956e727e96bd3dc831311324860d6e4dfbdf7b67620e701
+size 3779520