Add asset kitchen_supplies/tableware/d5b822d5533557d2a3ecaaad8017603f

.gitattributes

@@ -7402,4 +7402,4 @@ dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/affordance/m
 dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d4b87f71e6e05bbebbedda602d062baa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d52d2c34136d5ab1ac336b70635aa930/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d5b822d5533557d2a3ecaaad8017603f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/d5b822d5533557d2a3ecaaad8017603f/affordance/affordance_annot.json

@@ -0,0 +1,387 @@
+{
+    "affordances": [
+        {
+            "part_name": "spoon bowl",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold small amounts of food",
+                "scoop food",
+                "present food to the mouth",
+                "main eating surface"
+            ],
+            "semantic_description": "Oval silver metal bowl with a reflective glossy finish and smooth surface at the front of the spoon, sized to hold a bite and showing a small crest or logo inside.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "neck of spoon",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect bowl to handle",
+                "transfer force from handle to bowl",
+                "provide structural support",
+                "set utensil angle"
+            ],
+            "semantic_description": "Small narrow silver metal neck with a glossy reflective smooth surface between the bowl and handle, forming the slim transition section.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main handle grip",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the central handle section to pick up and use the spoon",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the central handle section to manipulate the spoon while scooping",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "grasp the central handle section to place or retrieve the spoon from a surface",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "provide primary grip",
+                "enable utensil control",
+                "support lifting and positioning",
+                "improve handling comfort"
+            ],
+            "semantic_description": "Long dark gray to black central handle grip with a matte finish and smooth slightly contoured surface, located along the middle of the handle and marked with printed brand text.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.8753365874290466,
+                    "position": [
+                        0.1060323677957058,
+                        0.06386494550315547,
+                        0.040875066071748734
+                    ],
+                    "orientation": {
+                        "w": 0.5250100856101475,
+                        "xyz": [
+                            0.4941410353698972,
+                            -0.6901536326817626,
+                            0.062265644358332733
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9819536209106445,
+                    "position": [
+                        0.04462641850113869,
+                        -0.09558334287794423,
+                        -0.0016774213872849941
+                    ],
+                    "orientation": {
+                        "w": 0.46291319565394984,
+                        "xyz": [
+                            -0.5032751507862131,
+                            0.47190335343593726,
+                            0.5565363608125526
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rear handle section",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear handle section to pick up the spoon",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the rear handle section to stabilize the spoon during transport",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "extend the grip area",
+                "support balance",
+                "connect main grip to tip",
+                "provide secondary holding surface"
+            ],
+            "semantic_description": "Elongated light gray to silver rear handle section with a smooth slightly reflective surface along the back portion of the handle, tapering toward the end tip.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.3139819800853729,
+                    "position": [
+                        0.13306712731719017,
+                        0.007032503443042515,
+                        -0.026189103722572327
+                    ],
+                    "orientation": {
+                        "w": 0.48865090169755004,
+                        "xyz": [
+                            -0.497994718295027,
+                            -0.3727179464856615,
+                            0.6118029823300468
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.3285207450389862,
+                    "position": [
+                        0.1330338530242443,
+                        -0.008154258062859299,
+                        -0.007212957367300987
+                    ],
+                    "orientation": {
+                        "w": 0.03376171149523327,
+                        "xyz": [
+                            0.6872875525777477,
+                            -0.04346610521531713,
+                            -0.724297359242745
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.5966272354125977,
+                    "position": [
+                        -0.04252388025633991,
+                        1.827309370128205e-05,
+                        -0.06108953803777695
+                    ],
+                    "orientation": {
+                        "w": 0.6248713601189746,
+                        "xyz": [
+                            0.33161687691463826,
+                            0.30232512468328376,
+                            0.638878352453486
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.5518303513526917,
+                    "position": [
+                        0.13245400413870811,
+                        -0.026509487001021625,
+                        0.023786112666130066
+                    ],
+                    "orientation": {
+                        "w": 0.5627579131397721,
+                        "xyz": [
+                            -0.43982401455004266,
+                            -0.6735800250833105,
+                            0.1901271080946101
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.5050373077392578,
+                    "position": [
+                        0.14110590144991875,
+                        -0.0036026690395374317,
+                        -0.012632526457309723
+                    ],
+                    "orientation": {
+                        "w": 0.5394810796871163,
+                        "xyz": [
+                            0.46033045445875515,
+                            -0.4938789105181942,
+                            -0.5031298630600056
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9813550114631653,
+                    "position": [
+                        0.008917722851037979,
+                        0.0946483975967567,
+                        0.012915589846670628
+                    ],
+                    "orientation": {
+                        "w": 0.4890398047138813,
+                        "xyz": [
+                            0.5101151934791092,
+                            0.5679354022510577,
+                            -0.421985707882517
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.976604163646698,
+                    "position": [
+                        0.021663319319486618,
+                        0.09624010983316111,
+                        -0.00658681895583868
+                    ],
+                    "orientation": {
+                        "w": 0.5146227987686457,
+                        "xyz": [
+                            0.48995649608672437,
+                            0.5031389148001767,
+                            -0.4918914914324567
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9756259918212891,
+                    "position": [
+                        0.03665957227349281,
+                        -0.09814140286835027,
+                        0.007875058799982071
+                    ],
+                    "orientation": {
+                        "w": 0.5076853181585927,
+                        "xyz": [
+                            -0.5007521543051384,
+                            -0.5575702098704525,
+                            -0.424992186692874
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.956838071346283,
+                    "position": [
+                        -0.02509939856827259,
+                        0.08651631239263224,
+                        -0.015572739765048027
+                    ],
+                    "orientation": {
+                        "w": 0.6002713167064169,
+                        "xyz": [
+                            0.36220065997628226,
+                            0.5878724546470127,
+                            -0.40359757843622607
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9280993938446045,
+                    "position": [
+                        -0.05254671908915043,
+                        0.012382425436953781,
+                        0.078395314514637
+                    ],
+                    "orientation": {
+                        "w": 0.15900355621873388,
+                        "xyz": [
+                            -0.7027500175344883,
+                            0.6347450005754974,
+                            -0.279211508017639
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9277631640434265,
+                    "position": [
+                        -0.04954549390822649,
+                        -0.031910006819089176,
+                        0.07528728246688843
+                    ],
+                    "orientation": {
+                        "w": 0.3277609305940991,
+                        "xyz": [
+                            -0.6732952675726332,
+                            0.6557008098650241,
+                            -0.09645052090443984
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle tip cap",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small handle tip cap to reorient or pull the spoon from a tight spot",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "grasp the handle tip as a secondary pickup point",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "finish the handle end",
+                "protect the handle tip",
+                "provide rear contact point",
+                "indicate handle boundary"
+            ],
+            "semantic_description": "Small light gray or silver rounded end cap at the very back tip of the handle, with a smooth slightly reflective finish and a subtle contrast from the darker grip.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_45": {
+                    "confidence": 0.9776297807693481,
+                    "position": [
+                        0.049500446766614914,
+                        0.09852602991668391,
+                        0.007055934052914381
+                    ],
+                    "orientation": {
+                        "w": 0.47253063734208545,
+                        "xyz": [
+                            0.517252009580198,
+                            0.5320864554279038,
+                            -0.4754462738401675
+                        ]
+                    }
+                },
+                "grasp_53": {
+                    "confidence": 0.961035966873169,
+                    "position": [
+                        0.09931468591094017,
+                        0.0863124943098228,
+                        0.0009497724240645766
+                    ],
+                    "orientation": {
+                        "w": 0.3096789867968336,
+                        "xyz": [
+                            0.5893322977242662,
+                            0.4025534450899231,
+                            -0.6282810611834143
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.8705973625183105,
+                    "position": [
+                        0.136795561760664,
+                        0.047819248469750164,
+                        -0.0002580098807811737
+                    ],
+                    "orientation": {
+                        "w": 0.1449407121947839,
+                        "xyz": [
+                            0.6734102979366713,
+                            0.2147668370840785,
+                            -0.6923770405423719
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "end trim band",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join tip cap to handle",
+                "provide decorative accent",
+                "finish handle transition"
+            ],
+            "semantic_description": "Tiny narrow trim band next to the handle tip cap, appearing as a small smooth transition piece between the rear handle section and the end cap.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-part mapping and visual descriptions are incorrect for multiple handle parts."
+    }
+}

dataset/kitchen_supplies/tableware/d5b822d5533557d2a3ecaaad8017603f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c05f5626c09d20bc3d718363a402e73576977ffa7d96455a58c67f65b573e1bf
+size 3784816