Add asset kitchen_supplies/tableware/33292919909f584b994399d806e7386f

.gitattributes

@@ -7207,3 +7207,4 @@ dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/affordance/m
 dataset/kitchen_supplies/tableware/2f921ebe9eb15e1696740c24bf4891c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/310b0000b20253338c793282cecc0907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/33292919909f584b994399d806e7386f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/33292919909f584b994399d806e7386f/33292919909f584b994399d806e7386f.urdf

@@ -52,6 +52,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
    </custom_data>
 </robot>

dataset/kitchen_supplies/tableware/33292919909f584b994399d806e7386f/affordance/affordance_annot.json

@@ -0,0 +1,228 @@
+{
+    "affordances": [
+        {
+            "part_name": "spoon body (bowl and handle)",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and manipulate the spoon",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp near the neck between bowl and handle to stabilize the spoon during placement",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp across the handle or bowl in bin picking when orientation is uncertain",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "scoop liquids",
+                "hold a spoonful of food",
+                "provide the main grasp surface",
+                "connect bowl and handle",
+                "enable stirring"
+            ],
+            "semantic_description": "One-piece dark metal spoon with a reflective glossy finish and smooth hard surface, featuring a rounded shallow bowl and a slender engraved handle with a small hanging hole at the end.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9825787544250488,
+                    "position": [
+                        -0.08770538866519928,
+                        0.09294625284383073,
+                        -0.00030793610494583845
+                    ],
+                    "orientation": {
+                        "w": 0.5121973103973305,
+                        "xyz": [
+                            0.456364218426837,
+                            0.5395672045297463,
+                            -0.4881115109863296
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9825019836425781,
+                    "position": [
+                        0.1068749725818634,
+                        0.10147834481904283,
+                        0.03248920908663422
+                    ],
+                    "orientation": {
+                        "w": 0.4546687916595718,
+                        "xyz": [
+                            0.7481415232009292,
+                            0.2936474635367827,
+                            -0.383838140772686
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9824227094650269,
+                    "position": [
+                        0.07224097102880478,
+                        0.10852887394139543,
+                        0.03430079168174416
+                    ],
+                    "orientation": {
+                        "w": 0.5058543187031574,
+                        "xyz": [
+                            0.6923868465687217,
+                            0.41605891884721347,
+                            -0.30266621713642616
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9822287559509277,
+                    "position": [
+                        -0.04798957705497742,
+                        -0.09827410517027602,
+                        -0.0056484275264665484
+                    ],
+                    "orientation": {
+                        "w": 0.4379735268137955,
+                        "xyz": [
+                            -0.508631288845714,
+                            0.46110094357208753,
+                            0.5803958318719772
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9820433259010315,
+                    "position": [
+                        -0.08231751620769501,
+                        0.09509124519536272,
+                        0.009059182950295508
+                    ],
+                    "orientation": {
+                        "w": 0.4731102864155139,
+                        "xyz": [
+                            0.5512681217272154,
+                            -0.485613111486774,
+                            0.48626126805176717
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9815706610679626,
+                    "position": [
+                        0.09033416956663132,
+                        0.10893434943864122,
+                        0.03414006403181702
+                    ],
+                    "orientation": {
+                        "w": 0.4581031669635046,
+                        "xyz": [
+                            0.7144936350927715,
+                            0.37776378772714236,
+                            -0.37004709769428956
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.981172502040863,
+                    "position": [
+                        0.1035526767373085,
+                        0.10188227804610506,
+                        0.03368931880686432
+                    ],
+                    "orientation": {
+                        "w": 0.48737712155511825,
+                        "xyz": [
+                            0.7515869188778618,
+                            0.2824555257853645,
+                            -0.3432193478078456
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9811005592346191,
+                    "position": [
+                        -0.08039483428001404,
+                        0.09270613553235307,
+                        -0.007857579155825078
+                    ],
+                    "orientation": {
+                        "w": 0.5269937513484939,
+                        "xyz": [
+                            0.4418815114330121,
+                            0.5174640109450763,
+                            -0.5091653103560297
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9802823066711426,
+                    "position": [
+                        -0.08527562022209167,
+                        0.09320236655184999,
+                        0.002749300329014659
+                    ],
+                    "orientation": {
+                        "w": 0.5129458557680285,
+                        "xyz": [
+                            0.45677781916780186,
+                            0.5466655952252263,
+                            -0.4789543819235406
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9798383712768555,
+                    "position": [
+                        0.06092013791203499,
+                        0.11164856614777818,
+                        0.02857273689005524
+                    ],
+                    "orientation": {
+                        "w": 0.5141867988693049,
+                        "xyz": [
+                            0.6398784518566856,
+                            0.4714721155151479,
+                            -0.3223066040429511
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9794269800186157,
+                    "position": [
+                        0.11400072276592255,
+                        0.0894004693836905,
+                        0.04775494581554085
+                    ],
+                    "orientation": {
+                        "w": 0.3568493322535496,
+                        "xyz": [
+                            0.7886837988680746,
+                            0.33344893641615503,
+                            -0.3734276720814266
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle decorative inlay",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the handle",
+                "provide visual detail",
+                "highlight the handle design"
+            ],
+            "semantic_description": "Small decorative inset or embossed motif located around the middle section of the dark metal handle, matching the spoon's glossy finish and appearing as a subtle raised or engraved accent.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green mask marks a handle ornament, but main part name and functions wrongly merge bowl and handle into one part."
+    }
+}

dataset/kitchen_supplies/tableware/33292919909f584b994399d806e7386f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:418b3397ae26ca0886289bb6a8815bf4d769e778edc806bffe307896bda11ae9
+size 832172