Add asset kitchen_supplies/tableware/87887bb82956507982d5be205fd2091c

.gitattributes

@@ -7300,4 +7300,5 @@ dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/affordance/m
 dataset/kitchen_supplies/tableware/82424bffadec597e8512594ba6eac053/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/7f8c4ec8014857958a6bfc6d7fe269a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/85aa0ecaa5e75c9c80f4b6226505ae04/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/86ee5efb6e0c5a9ebf98d5f1bb1eee82/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/87887bb82956507982d5be205fd2091c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/87887bb82956507982d5be205fd2091c/affordance/affordance_annot.json

@@ -0,0 +1,115 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray base",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support placed items",
+                "provide a flat resting surface",
+                "contain small spills within the rim"
+            ],
+            "semantic_description": "Large flat orange-brown wooden panel forming the tray interior, with a semi-gloss smooth hard surface, visible wood grain, and a shallow rectangular shape centered inside the rim.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray rim",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side rim to lift and carry the tray",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "pinch a corner of the rim to pick up the tray from a table",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the rim to stabilize and reposition the tray",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide a grasping edge",
+                "retain items on the tray",
+                "frame the carrying surface",
+                "stabilize objects against sliding"
+            ],
+            "semantic_description": "Raised orange-brown wooden border around the tray perimeter, with a smooth semi-gloss hard finish, rounded rectangular profile, visible wood grain, and medium thickness along the outer edge.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.9778946042060852,
+                    "position": [
+                        -0.027126983273774385,
+                        -0.21993112843483686,
+                        -0.008006802061572671
+                    ],
+                    "orientation": {
+                        "w": 0.6165968065384816,
+                        "xyz": [
+                            -0.35448908308349153,
+                            0.602661103734077,
+                            0.3618638724537114
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9678633213043213,
+                    "position": [
+                        -0.18538923980668187,
+                        -0.007406140444800258,
+                        0.0025057843886315823
+                    ],
+                    "orientation": {
+                        "w": 0.6438288399351534,
+                        "xyz": [
+                            0.17774236351363926,
+                            0.727094403282617,
+                            -0.15882633848148464
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9669197201728821,
+                    "position": [
+                        0.1854655551724136,
+                        -0.001865483121946454,
+                        -0.008359366562217474
+                    ],
+                    "orientation": {
+                        "w": 0.1837674104981571,
+                        "xyz": [
+                            0.6829465092228022,
+                            0.1737367052816634,
+                            -0.6852949449814022
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9654878377914429,
+                    "position": [
+                        -0.18770991684868932,
+                        0.03795087058097124,
+                        0.025957078207284212
+                    ],
+                    "orientation": {
+                        "w": 0.1497360413187424,
+                        "xyz": [
+                            0.7952111892116812,
+                            -0.10078101019187591,
+                            0.5788449450996708
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/87887bb82956507982d5be205fd2091c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:935c993ae416123f6dc749e0883928c4fb24e2c0a116f61362d526ea92b29554
+size 723912