Add asset kitchen_supplies/tableware/52ba185865345944b5931da794557c12

.gitattributes

@@ -7246,4 +7246,4 @@ dataset/kitchen_supplies/tableware/4c2a2e5fcc87507e878f06a71b79abf4/affordance/m
 dataset/kitchen_supplies/tableware/4f569508436a5ef48dc7f64e9979bf0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/504a39db044f5538b36d829f697be079/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/50565c7154e55096a938e513e8cc1eca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/52ba185865345944b5931da794557c12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/52ba185865345944b5931da794557c12/affordance/affordance_annot.json

@@ -0,0 +1,212 @@
+{
+    "affordances": [
+        {
+            "part_name": "spoon body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle area to pick up and manipulate the spoon",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the spoon body to place it on a table or into a container",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the spoon near the neck to stabilize it during scooping tasks",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "scoop food or liquid",
+                "provide the main grasp surface",
+                "support transferring contents",
+                "connect bowl and handle",
+                "enable utensil manipulation"
+            ],
+            "semantic_description": "One-piece dark gray metal spoon with a reflective smooth finish and hard surface, featuring an oval bowl and a narrow tapered handle, medium-sized and slightly elongated with small engraved markings near the handle end.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9599618911743164,
+                    "position": [
+                        -0.01820226199924946,
+                        -0.10076774499611929,
+                        -0.0028904442442581058
+                    ],
+                    "orientation": {
+                        "w": 0.4558992238109927,
+                        "xyz": [
+                            -0.46146400762995954,
+                            0.5224506610901214,
+                            0.5534005548579858
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9584893584251404,
+                    "position": [
+                        -0.012685648165643215,
+                        -0.10030766419367865,
+                        -0.015848032315261662
+                    ],
+                    "orientation": {
+                        "w": 0.5106262839472424,
+                        "xyz": [
+                            -0.46000910058392597,
+                            0.46122406274744443,
+                            0.5611816011461347
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.957923412322998,
+                    "position": [
+                        0.003065343014895916,
+                        -0.09599399409489706,
+                        0.02085763111244887
+                    ],
+                    "orientation": {
+                        "w": 0.3965662627775575,
+                        "xyz": [
+                            -0.600125193130284,
+                            0.4898724304790022,
+                            0.4925545184581866
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9577864408493042,
+                    "position": [
+                        0.01092711091041565,
+                        -0.09213360986905172,
+                        0.022103153984062374
+                    ],
+                    "orientation": {
+                        "w": 0.3549809443747293,
+                        "xyz": [
+                            -0.6478242655084222,
+                            0.4313766476194233,
+                            0.5179058196602221
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9576098918914795,
+                    "position": [
+                        -0.02037975937128067,
+                        -0.10180304042296484,
+                        -0.00992183678317815
+                    ],
+                    "orientation": {
+                        "w": 0.5708814956649019,
+                        "xyz": [
+                            -0.501068102163638,
+                            -0.4454323695277559,
+                            -0.4739357330677048
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9575104117393494,
+                    "position": [
+                        -0.019692953675985336,
+                        -0.0970412030001171,
+                        0.024019946227781475
+                    ],
+                    "orientation": {
+                        "w": 0.3878646124216169,
+                        "xyz": [
+                            -0.5303914071379989,
+                            0.5761898892074274,
+                            0.4860567963112282
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9575039744377136,
+                    "position": [
+                        -0.013942136894911528,
+                        -0.09821157745318487,
+                        0.01006314333062619
+                    ],
+                    "orientation": {
+                        "w": 0.46229407476046586,
+                        "xyz": [
+                            -0.5672000179566921,
+                            0.4752163490513549,
+                            0.4886079713488038
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9573640823364258,
+                    "position": [
+                        -0.02334810607135296,
+                        -0.10199826053576544,
+                        0.0073843494756147265
+                    ],
+                    "orientation": {
+                        "w": 0.49114600656696317,
+                        "xyz": [
+                            -0.5390704325015226,
+                            0.4898400910676681,
+                            0.4777398394720331
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9566618204116821,
+                    "position": [
+                        -0.01403772458434105,
+                        -0.10101253382163122,
+                        0.0010121987434104085
+                    ],
+                    "orientation": {
+                        "w": 0.44357974022990787,
+                        "xyz": [
+                            -0.4846439892106575,
+                            0.5245180404330237,
+                            0.5415145824812562
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.956436276435852,
+                    "position": [
+                        -0.011181084904819727,
+                        -0.09950783691601828,
+                        -0.0045544017339125276
+                    ],
+                    "orientation": {
+                        "w": 0.47872104053690645,
+                        "xyz": [
+                            -0.4931510276387029,
+                            0.49202849136458415,
+                            0.5343558673502556
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "hanging hole",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enable hanging storage",
+                "provide a mounting opening",
+                "indicate handle end orientation"
+            ],
+            "semantic_description": "Small oblong cutout at the end of the spoon handle, appearing as an empty opening through the dark metallic body and positioned near the rounded handle tip.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/52ba185865345944b5931da794557c12/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28bab2f45d2923fb855c0c9e79bf97a8bad63f2bcbd840383bbc0c7669c988ec
+size 3781252

dataset/kitchen_supplies/tableware/52ba185865345944b5931da794557c12/spoon_025.urdf

@@ -58,6 +58,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>YES</PartSegChecker>