Add asset kitchen_supplies/tableware/7b3f5b70d5b3501baba632989614b24e

.gitattributes

@@ -7291,3 +7291,4 @@ dataset/kitchen_supplies/tableware/7621a3f903ff5f948e7674e7dd4e8446/affordance/m
 dataset/kitchen_supplies/tableware/77f5ecd740d05f53a1c89eba5ef55688/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/79eeb645ef425a8bb62e60e176cfb092/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7b3f5b70d5b3501baba632989614b24e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/7b3f5b70d5b3501baba632989614b24e/affordance/affordance_annot.json

@@ -0,0 +1,256 @@
+{
+    "affordances": [
+        {
+            "part_name": "fork head and neck",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the metal neck near the handle to reorient or place the utensil during sorting",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "lightly pinch the fork head to stabilize it while another gripper engages the handle",
+                    "confidence": 0.32
+                }
+            ],
+            "functional_labels": [
+                "pierce or hold food with the tines",
+                "provide the working end",
+                "connect the tines to the handle"
+            ],
+            "semantic_description": "Silver metal front section including the narrow neck and fork head, with a smooth reflective finish. The tip has two long pointed tines and serrated outer outer edges.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.7365574836730957,
+                    "position": [
+                        -0.13158604688942432,
+                        0.05096676090033725,
+                        -0.0055911614472279325
+                    ],
+                    "orientation": {
+                        "w": 0.6824013612571564,
+                        "xyz": [
+                            0.13190279719470477,
+                            0.6816596118490266,
+                            -0.22862678718913693
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.6910174489021301,
+                    "position": [
+                        -0.1298005674034357,
+                        0.04822649696143344,
+                        0.0012584060750668868
+                    ],
+                    "orientation": {
+                        "w": 0.678900626820948,
+                        "xyz": [
+                            0.17204283473449172,
+                            0.6900171073272269,
+                            -0.18267893560673992
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.6866583228111267,
+                    "position": [
+                        -0.14862693287432194,
+                        0.006800853938329965,
+                        0.0031790543434908614
+                    ],
+                    "orientation": {
+                        "w": 0.6981984732510872,
+                        "xyz": [
+                            0.02922368815671539,
+                            0.7152896529893007,
+                            -0.005057699755407083
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.6856181025505066,
+                    "position": [
+                        -0.1509681884199381,
+                        0.010321141977328807,
+                        0.0016115387988975272
+                    ],
+                    "orientation": {
+                        "w": 0.6975337603516998,
+                        "xyz": [
+                            0.048010960927020035,
+                            0.7149388647977337,
+                            0.002005094064995075
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.679573655128479,
+                    "position": [
+                        -0.14723669923841953,
+                        0.015930653375107795,
+                        0.004802020368515514
+                    ],
+                    "orientation": {
+                        "w": 0.6930320756149366,
+                        "xyz": [
+                            0.05618423462485639,
+                            0.7182678643981393,
+                            -0.025320918652550047
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.6794148087501526,
+                    "position": [
+                        -0.1597686056047678,
+                        0.015968606632668525,
+                        0.0004975405026925728
+                    ],
+                    "orientation": {
+                        "w": 0.7032600741629905,
+                        "xyz": [
+                            0.05262731647826194,
+                            0.7078437600741819,
+                            -0.040160241192087345
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "main handle grip",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main handle grip to pick up and carry the fork",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the handle grip to orient and manipulate the fork during use or storage",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "provide the primary grip area",
+                "improve handling comfort",
+                "support controlled manipulation"
+            ],
+            "semantic_description": "Brown handle grip panel on the rear section, likely wood or wood-look material, with a smooth finish and visible metal rivets.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.5362841486930847,
+                    "position": [
+                        0.1218057181686163,
+                        -0.003049755177926272,
+                        -0.003882901874021627
+                    ],
+                    "orientation": {
+                        "w": 0.06263429189646573,
+                        "xyz": [
+                            -0.6971628133126526,
+                            -0.05036701378795694,
+                            0.7123932349023953
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.5136330723762512,
+                    "position": [
+                        0.12278697453439236,
+                        0.0012046299525536597,
+                        -0.0006222855154192075
+                    ],
+                    "orientation": {
+                        "w": 0.05479541305915778,
+                        "xyz": [
+                            0.7126722694756119,
+                            -0.05558642269243064,
+                            -0.6971411970615535
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.49764484167099,
+                    "position": [
+                        0.11606419645249844,
+                        -0.0011336035677231848,
+                        0.0024063383316388354
+                    ],
+                    "orientation": {
+                        "w": 0.06760784013084861,
+                        "xyz": [
+                            0.7173469842181438,
+                            -0.05887489282555747,
+                            -0.690924186275712
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle end cap",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the handle end cap to lift or reposition the fork from a surface or bin",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "use the handle tip as a secondary contact point while stabilizing the utensil",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "terminate the handle",
+                "protect or finish the handle end",
+                "provide a secondary pinch point"
+            ],
+            "semantic_description": "Rounded blue-segmented handle tip corresponding to a silver metal end cap at the butt of the handle, with a smooth reflective finish and no clearly visible hanging hole.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.488308846950531,
+                    "position": [
+                        0.11880013905465603,
+                        -0.004866214178036898,
+                        0.0015502493915846571
+                    ],
+                    "orientation": {
+                        "w": 0.04813045939303919,
+                        "xyz": [
+                            0.7103977795832448,
+                            -0.05396214246953057,
+                            -0.7000760964508851
+                        ]
+                    }
+                },
+                "grasp_41": {
+                    "confidence": 0.4848959743976593,
+                    "position": [
+                        0.12155457399785519,
+                        -0.008398980076890439,
+                        -0.0008477940718876198
+                    ],
+                    "orientation": {
+                        "w": 0.7178474053433137,
+                        "xyz": [
+                            0.06320935389763914,
+                            -0.6876389433995088,
+                            -0.08861356409784397
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Tool head misidentified as fork; tine count, edge shape, and handle-end segmentation/description mismatch images."
+    }
+}

dataset/kitchen_supplies/tableware/7b3f5b70d5b3501baba632989614b24e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cfdb32fc61bbdcdafb2cf3669800cafb215376562d10bd8ebdd07efea440e2d
+size 3802172