Add asset kitchen_supplies/tableware/e41112cb79905b8d89ecaacc2dafc0de

.gitattributes

@@ -7419,4 +7419,4 @@ dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/affordance/m
 dataset/kitchen_supplies/tableware/e00dfddffa4c5c44878e2b9fbea1a6f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e15585d60ddb57e68885d7dcfcdcd084/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e06fce747ae153fe8328add42605b2b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/e41112cb79905b8d89ecaacc2dafc0de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/e41112cb79905b8d89ecaacc2dafc0de/affordance/affordance_annot.json

@@ -0,0 +1,133 @@
+{
+    "affordances": [
+        {
+            "part_name": "fork",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle area to pick up and manipulate the fork",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the fork body to place or retrieve it from a table setting",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch near the neck to precisely orient the tines for serving or inspection",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "provide a utensil for spearing food",
+                "support lifting small food items",
+                "offer a handle for manipulation",
+                "present tines for piercing and holding food"
+            ],
+            "semantic_description": "Single-piece silver-colored metal fork with a reflective smooth hard surface, a tapered handle, and four narrow tines at one end; medium-sized, slightly curved in profile, with a small decorative marking near the handle tip.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9407128095626831,
+                    "position": [
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+                        0.08379469426290598,
+                        0.012926263269037008
+                    ],
+                    "orientation": {
+                        "w": 0.3058221382602328,
+                        "xyz": [
+                            0.6408876473122492,
+                            0.3918052534781835,
+                            -0.5849995612130021
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9271959662437439,
+                    "position": [
+                        -0.022701342590153217,
+                        0.09645440788881388,
+                        0.008495993446558714
+                    ],
+                    "orientation": {
+                        "w": 0.5494409112559552,
+                        "xyz": [
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+                            -0.49724763274958383,
+                            0.3970551370253662
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.8332372903823853,
+                    "position": [
+                        -0.08653867989778519,
+                        0.08517166586534586,
+                        0.009002720471471548
+                    ],
+                    "orientation": {
+                        "w": 0.5287215387656434,
+                        "xyz": [
+                            0.27168294759851186,
+                            0.6870742129875328,
+                            -0.41781686930644224
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.8304619789123535,
+                    "position": [
+                        -0.08803359419107437,
+                        0.08407452316896524,
+                        0.0037955984007567167
+                    ],
+                    "orientation": {
+                        "w": 0.5604247439197888,
+                        "xyz": [
+                            0.2969775589820565,
+                            0.6704696376257586,
+                            -0.38496610355391336
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.7327972054481506,
+                    "position": [
+                        0.12062352895736694,
+                        0.04630845399515238,
+                        0.020471769850701094
+                    ],
+                    "orientation": {
+                        "w": 0.09079090370383193,
+                        "xyz": [
+                            0.7277299244532934,
+                            0.26353875678046135,
+                            -0.6266685667356027
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.7300694584846497,
+                    "position": [
+                        0.11935882270336151,
+                        0.054720770436688326,
+                        -0.005482101812958717
+                    ],
+                    "orientation": {
+                        "w": 0.22344669009143783,
+                        "xyz": [
+                            0.6578332019199512,
+                            0.1743140900050425,
+                            -0.6978120471621565
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/e41112cb79905b8d89ecaacc2dafc0de/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13473ffc8fbdb404080be0e249f5effc60c9c2c5f0336bad0c7a9fe1606cc24c
+size 3778508