Add asset kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7

.gitattributes

@@ -7257,3 +7257,4 @@ dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/affordance/m
 dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5b7b64fbf25858c28b7a25fb9edbc30f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/affordance/affordance_annot.json

@@ -0,0 +1,177 @@
+{
+    "affordances": [
+        {
+            "part_name": "top layer of napkin",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top layer at an edge or corner to lift and unfold the napkin",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the top layer to reposition the folded napkin on a table",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the top layer to separate it from the stack while dispensing",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide wiping surface",
+                "cover the folded stack",
+                "enable unfolding",
+                "allow picking from the top"
+            ],
+            "semantic_description": "Thin blue-purple fabric sheet forming the upper face of the folded napkin, with a matte soft woven texture, slightly rounded square shape, and gently curved edges at the top.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom layer of napkin",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower folded body from the side to pick up the whole napkin",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "pinch a lower edge to stabilize the napkin while unfolding",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "hold the bottom layer to place or stack the folded napkin",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "provide wiping surface",
+                "support the folded shape",
+                "add absorbent layers",
+                "stabilize the napkin during handling"
+            ],
+            "semantic_description": "Thin blue-purple fabric layer making up the underside and side faces of the folded napkin, with a matte soft woven texture, flat tapered shape, and stacked folded edges visible around the lower portion.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.9682506322860718,
+                    "position": [
+                        -0.1696693439844239,
+                        -0.023951377370394766,
+                        0.00032439897768199444
+                    ],
+                    "orientation": {
+                        "w": 0.693397825648202,
+                        "xyz": [
+                            0.018363353489989014,
+                            0.7203133039684336,
+                            0.003314628339038372
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9658456444740295,
+                    "position": [
+                        -0.16989108816414955,
+                        -0.045639281743206084,
+                        -0.0009392627398483455
+                    ],
+                    "orientation": {
+                        "w": 0.6946894367540855,
+                        "xyz": [
+                            0.017600572690063446,
+                            0.719031524682407,
+                            0.009511719937310398
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.963023841381073,
+                    "position": [
+                        -0.1699515272739518,
+                        -0.05392163398209959,
+                        -0.0003441392909735441
+                    ],
+                    "orientation": {
+                        "w": 0.6971617613627633,
+                        "xyz": [
+                            0.016790089052055566,
+                            0.7166603287716223,
+                            0.009030203106461559
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.9615986943244934,
+                    "position": [
+                        -0.17088584498196724,
+                        -0.05282383935991675,
+                        -0.001651909071370028
+                    ],
+                    "orientation": {
+                        "w": 0.7010253099355657,
+                        "xyz": [
+                            0.021425485462092546,
+                            0.7127970197472356,
+                            0.004987187776330931
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.9587127566337585,
+                    "position": [
+                        -0.12373480842143181,
+                        -0.14449326472822577,
+                        0.0014087304007261992
+                    ],
+                    "orientation": {
+                        "w": 0.6190460061472948,
+                        "xyz": [
+                            -0.3432250078761636,
+                            0.6169142021957887,
+                            0.3440864765878255
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.9496936798095703,
+                    "position": [
+                        -0.15796068207055214,
+                        -0.10543856548611075,
+                        -0.0037716550286859274
+                    ],
+                    "orientation": {
+                        "w": 0.6837579740363028,
+                        "xyz": [
+                            -0.17307010734560227,
+                            0.6848395964943994,
+                            0.1830751156179895
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9491426348686218,
+                    "position": [
+                        -0.16113746062546852,
+                        -0.05827697890345007,
+                        0.00842360476963222
+                    ],
+                    "orientation": {
+                        "w": 0.6788607998317954,
+                        "xyz": [
+                            -0.13600158392936518,
+                            0.7032360982571588,
+                            0.161587665768418
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e67ed2ebcdf343fa9966ea85cf2b9938949393af050a6dc7f5983ba8c5e09558
+size 758604