Add asset kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d

.gitattributes

@@ -7205,4 +7205,4 @@ dataset/kitchen_supplies/tableware/2ee7d6837e7f5057b418b5ed708efd6a/affordance/m
 dataset/kitchen_supplies/tableware/2f1c3077a8d954e58fc0bf75cf35e849/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/2faeba613c02524487277aa76af2a82d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/affordance/affordance_annot.json

@@ -0,0 +1,309 @@
+{
+    "affordances": [
+        {
+            "part_name": "coaster base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the coaster edge to pick it up from a table",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the coaster by its rim to reposition it",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "pinch the coaster body to stack or unstack it",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support a cup or glass",
+                "provide a flat resting surface",
+                "protect the tabletop",
+                "stabilize drinkware",
+                "serve as the main structural body"
+            ],
+            "semantic_description": "Round medium-brown wooden coaster body with visible wood grain, smooth slightly satin finish, shallow carved recess on the top face, rounded outer edge, black printed characters on the top surface, and a flat circular underside.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9840638637542725,
+                    "position": [
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+                        -0.1371629373752512,
+                        -0.0019835284911096096
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.5378662198387216,
+                            -0.4596060155082299
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9836211204528809,
+                    "position": [
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+                        -0.13580119475955144,
+                        -0.003025393234565854
+                    ],
+                    "orientation": {
+                        "w": 0.5640525152948125,
+                        "xyz": [
+                            -0.43536546655137065,
+                            -0.5466380823834367,
+                            -0.4398732515307809
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9834064245223999,
+                    "position": [
+                        0.02077741958783008,
+                        -0.137169225665275,
+                        -0.0008833426982164383
+                    ],
+                    "orientation": {
+                        "w": 0.5380738680661189,
+                        "xyz": [
+                            -0.45788190046147725,
+                            -0.5419680090492879,
+                            -0.45507291163208297
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9830915331840515,
+                    "position": [
+                        -0.005224137188633904,
+                        -0.13590916857356206,
+                        -0.0013001956976950169
+                    ],
+                    "orientation": {
+                        "w": 0.5048869753072783,
+                        "xyz": [
+                            -0.5044215321295159,
+                            -0.495998024442188,
+                            -0.49460491287352437
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9830724000930786,
+                    "position": [
+                        0.012780102348187938,
+                        -0.13553054496878758,
+                        0.0021874653175473213
+                    ],
+                    "orientation": {
+                        "w": 0.5138641852403472,
+                        "xyz": [
+                            -0.47874407685553333,
+                            -0.5388176873513972,
+                            -0.4652130778474623
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9830461144447327,
+                    "position": [
+                        0.019657312339404598,
+                        -0.13675925001734868,
+                        -0.0037033550906926394
+                    ],
+                    "orientation": {
+                        "w": 0.5361769928718576,
+                        "xyz": [
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+                            -0.527673781923507,
+                            -0.47289613196199115
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9829665422439575,
+                    "position": [
+                        0.01873507388518192,
+                        -0.13237063452834263,
+                        0.0031246517319232225
+                    ],
+                    "orientation": {
+                        "w": 0.466249372598258,
+                        "xyz": [
+                            -0.5450091921399159,
+                            0.4680197211847936,
+                            0.5162693518085643
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9829182624816895,
+                    "position": [
+                        -0.12953651099815033,
+                        -0.05035394668811932,
+                        0.0008841342641972005
+                    ],
+                    "orientation": {
+                        "w": 0.6909256348244222,
+                        "xyz": [
+                            -0.09843782517047242,
+                            0.7088223007703502,
+                            0.10248271878128645
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9828522801399231,
+                    "position": [
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+                        -0.1353512989007868,
+                        -0.0008178411517292261
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+                    "orientation": {
+                        "w": 0.5075133715171999,
+                        "xyz": [
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+                            -0.5039306231437863,
+                            -0.4877489656247135
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9827697277069092,
+                    "position": [
+                        -0.013923301914473996,
+                        -0.13651159271830693,
+                        -0.002066491637378931
+                    ],
+                    "orientation": {
+                        "w": 0.46968979927793075,
+                        "xyz": [
+                            -0.5295934530321484,
+                            -0.46096592741818654,
+                            -0.5351940589349197
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9825977683067322,
+                    "position": [
+                        0.027546327939489856,
+                        -0.13151314720744267,
+                        0.012077288469299674
+                    ],
+                    "orientation": {
+                        "w": 0.40180303230741987,
+                        "xyz": [
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+                            0.47299808271087873,
+                            0.5301159785054604
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+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9824566841125488,
+                    "position": [
+                        0.023634899785974994,
+                        -0.13381214305991307,
+                        -0.0003946084761992097
+                    ],
+                    "orientation": {
+                        "w": 0.5315191795758625,
+                        "xyz": [
+                            -0.46368375730247785,
+                            -0.5393986133016653,
+                            -0.4599281149539562
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9824450612068176,
+                    "position": [
+                        -0.008439540484687313,
+                        -0.13617472216719761,
+                        0.0017508588498458266
+                    ],
+                    "orientation": {
+                        "w": 0.5018857425719842,
+                        "xyz": [
+                            -0.4994152090735338,
+                            0.5135073888949553,
+                            0.48477346451646064
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9824299812316895,
+                    "position": [
+                        0.028750012075761333,
+                        -0.13142691418761387,
+                        0.00157783308532089
+                    ],
+                    "orientation": {
+                        "w": 0.42079281472976626,
+                        "xyz": [
+                            -0.5622253637323583,
+                            0.44131104138829735,
+                            0.5586417565816171
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9824022650718689,
+                    "position": [
+                        0.03947475031600334,
+                        -0.1302788393222727,
+                        -0.0006408824119716883
+                    ],
+                    "orientation": {
+                        "w": 0.5854500472864936,
+                        "xyz": [
+                            -0.39451545756652545,
+                            -0.586271441012623,
+                            -0.39735575159584563
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9823760390281677,
+                    "position": [
+                        -0.004895815713098273,
+                        -0.1377488361322321,
+                        -0.0015987842343747616
+                    ],
+                    "orientation": {
+                        "w": 0.5064366127221208,
+                        "xyz": [
+                            -0.4929488550995729,
+                            0.5052580267243146,
+                            0.4952148119566054
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "decorative carved outer ring",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide surface decoration",
+                "add visual texture",
+                "ornament the top face",
+                "form a carved border around the center"
+            ],
+            "semantic_description": "Shallow carved ornamental ring on the top surface near the perimeter, matching the brown wood with smooth hard finish and swirling raised-and-recessed patterns forming a narrow circular band around the central area.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a2495515d13bd72fba286af970d3776659c6c628b38736d10dc2d38b003b1c
+size 3800148

dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/coaster_011.urdf

@@ -58,6 +58,7 @@
                <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>
       <quality>
          <PartSegChecker>YES</PartSegChecker>