Add asset kitchen_supplies/tableware/38eb597101a05c618d43e80c403902aa

.gitattributes

@@ -7219,4 +7219,4 @@ dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/affordance/m
 dataset/kitchen_supplies/tableware/38c6945c09135ab4ae5e48be2f65ed35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/38eb597101a05c618d43e80c403902aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/38eb597101a05c618d43e80c403902aa/affordance/affordance_annot.json

@@ -0,0 +1,199 @@
+{
+    "affordances": [
+        {
+            "part_name": "bottom base",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the coaster around the lower rim to pick it up from a table",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the underside edge to reposition or stack the coaster",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support the coaster on a surface",
+                "provide a stable underside",
+                "contact the tabletop",
+                "enable lifting from the edge"
+            ],
+            "semantic_description": "Flat circular underside in pale pink plastic or silicone with a matte smooth hard surface, broad and thin, forming the entire bottom face and outer lower rim of the coaster.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "outer raised rim",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the outer rim to lift the coaster",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp the rim to place or align the coaster on a surface",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "retain spills near the edge",
+                "provide a graspable perimeter",
+                "protect against sliding off",
+                "frame the cup-support area"
+            ],
+            "semantic_description": "Raised circular outer ring in pale blush pink plastic with a matte smooth surface, medium width and shallow height, running around the coaster perimeter with subtle molded decoration on top.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.9717730283737183,
+                    "position": [
+                        0.041454117046669126,
+                        0.13241358150844462,
+                        0.017059495788998902
+                    ],
+                    "orientation": {
+                        "w": 0.4770991352568383,
+                        "xyz": [
+                            0.3941016692175576,
+                            -0.652481376937513,
+                            0.4374109534600606
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9644017815589905,
+                    "position": [
+                        -0.05923115904442966,
+                        0.12395200182800181,
+                        0.02346882421988994
+                    ],
+                    "orientation": {
+                        "w": 0.49905436890627386,
+                        "xyz": [
+                            0.4121796177962199,
+                            0.674830234611744,
+                            -0.3544811052831759
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9585056900978088,
+                    "position": [
+                        0.01652160589583218,
+                        -0.1370132560550701,
+                        0.020236967247910798
+                    ],
+                    "orientation": {
+                        "w": 0.42482671018369444,
+                        "xyz": [
+                            -0.5801871326440278,
+                            0.5274215821219481,
+                            0.4524727971279407
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.955657422542572,
+                    "position": [
+                        -0.003166923997923732,
+                        0.13011381079559214,
+                        0.0436335337581113
+                    ],
+                    "orientation": {
+                        "w": 0.3926348043832705,
+                        "xyz": [
+                            0.625030574032379,
+                            0.572576404972139,
+                            -0.35683462889810197
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9552028775215149,
+                    "position": [
+                        0.005556487711146474,
+                        0.13048745741252787,
+                        0.042790817213244736
+                    ],
+                    "orientation": {
+                        "w": 0.3352805263547696,
+                        "xyz": [
+                            0.5401120945481986,
+                            -0.6534229637312591,
+                            0.41097971292836855
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.937878429889679,
+                    "position": [
+                        -0.014757240889593959,
+                        0.12554557670955546,
+                        0.050806576502509415
+                    ],
+                    "orientation": {
+                        "w": 0.3275267760705821,
+                        "xyz": [
+                            0.5281009107238143,
+                            0.6870507744670067,
+                            -0.3765592547711117
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.8950392007827759,
+                    "position": [
+                        -0.013270456111058593,
+                        0.11711412717704661,
+                        0.05798056919593364
+                    ],
+                    "orientation": {
+                        "w": 0.16731431203796077,
+                        "xyz": [
+                            0.5675823407660617,
+                            -0.6746438759176973,
+                            0.44126165494469216
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "textured top surface",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support a cup or glass",
+                "increase friction under drinkware",
+                "help center the vessel",
+                "collect small drips"
+            ],
+            "semantic_description": "Annular top contact area in light pink plastic with a matte smooth-to-fine-textured finish, covered by concentric ridges and grooves between the rim and center pad.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center pad",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the vessel base center",
+                "improve centering",
+                "provide a stable contact point",
+                "distribute load"
+            ],
+            "semantic_description": "Small circular central pad in pale pink plastic with a matte smooth surface, slightly raised and centered within the coaster as the middle contact area for a cup or glass.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/38eb597101a05c618d43e80c403902aa/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfb41430705f51d111a81f2d2f845055da6d6127a6c4b7eadb67295d67c3278a
+size 3782956