Add asset kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c

.gitattributes

@@ -8471,3 +8471,4 @@ dataset/kitchen_supplies/tableware/f54949bebdcc5944ae62448b9a32b767/affordance/m
 dataset/kitchen_supplies/tableware/f58ea92fd31e54b28a25ff061fc91ea9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/affordance/affordance_annot.json

@@ -0,0 +1,258 @@
+{
+    "affordances": [
+        {
+            "part_name": "fork handle and body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and move the fork",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to orient or place the fork",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "pinch the neck near the head to stabilize the fork briefly during manipulation",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "handheld eating utensil",
+                "provide a grip area at the handle",
+                "enable spearing or lifting food with the tines",
+                "single-piece utensil body connecting handle and tines"
+            ],
+            "semantic_description": "Small single-piece metal fork with a rusty reddish-brown appearance, matte worn finish, rough corroded texture, four tines, and a narrow handle ending in a hanging hole.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9748432636260986,
+                    "position": [
+                        -0.0927095403894782,
+                        0.09826787866768427,
+                        0.02615922994664288
+                    ],
+                    "orientation": {
+                        "w": 0.45630663043372294,
+                        "xyz": [
+                            0.5511221371731437,
+                            -0.5783285652524041,
+                            0.3918988639343373
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9729233980178833,
+                    "position": [
+                        -0.09421376790851355,
+                        0.03360139511642046,
+                        -0.09097433157512569
+                    ],
+                    "orientation": {
+                        "w": 0.6943702019869318,
+                        "xyz": [
+                            0.1305289004121506,
+                            -0.1276170513624807,
+                            0.6960791025101736
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9714400172233582,
+                    "position": [
+                        -0.09366381075233221,
+                        0.10058092631516047,
+                        -0.0017230511621164624
+                    ],
+                    "orientation": {
+                        "w": 0.49069008935190755,
+                        "xyz": [
+                            0.5040610765457381,
+                            0.4976245869473618,
+                            -0.5074597893319592
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9706497192382812,
+                    "position": [
+                        -0.09065847750753164,
+                        0.09949606217560358,
+                        -0.004184919616818661
+                    ],
+                    "orientation": {
+                        "w": 0.489185417443906,
+                        "xyz": [
+                            0.4984004122368827,
+                            0.4982327257718435,
+                            -0.5138665268455376
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9694368839263916,
+                    "position": [
+                        -0.09801346715539694,
+                        0.09997173704323359,
+                        -0.0018633710897120181
+                    ],
+                    "orientation": {
+                        "w": 0.4906664029448195,
+                        "xyz": [
+                            0.5036895286153357,
+                            0.49992020254371805,
+                            -0.5055918619529991
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9684388637542725,
+                    "position": [
+                        -0.08941813465207815,
+                        0.092399488465162,
+                        0.03660095043233014
+                    ],
+                    "orientation": {
+                        "w": 0.3466956532038073,
+                        "xyz": [
+                            0.5862664538890713,
+                            -0.6000173674304025,
+                            0.41961044776769807
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9669650197029114,
+                    "position": [
+                        -0.08975938614457846,
+                        0.08669805832323618,
+                        -0.04678620092818164
+                    ],
+                    "orientation": {
+                        "w": 0.6277551500857159,
+                        "xyz": [
+                            0.3599224525323933,
+                            -0.36654369468368697,
+                            0.5848290515967542
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9639520049095154,
+                    "position": [
+                        -0.09094894584268332,
+                        0.08556443758425303,
+                        0.03881906278184033
+                    ],
+                    "orientation": {
+                        "w": 0.3849419040801129,
+                        "xyz": [
+                            0.6102629761958245,
+                            -0.5783506166771911,
+                            0.38066966592690976
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9624577760696411,
+                    "position": [
+                        -0.061223275028169155,
+                        -0.09864301673951559,
+                        -0.0028807515955122653
+                    ],
+                    "orientation": {
+                        "w": 0.5707425591928036,
+                        "xyz": [
+                            -0.4148886138057207,
+                            -0.5582058509706495,
+                            -0.436493524811708
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9614708423614502,
+                    "position": [
+                        -0.09545414056628942,
+                        0.09475010939058848,
+                        0.02754037201157189
+                    ],
+                    "orientation": {
+                        "w": 0.42144568328575277,
+                        "xyz": [
+                            0.5434667650932596,
+                            0.5785173904939023,
+                            -0.43857159070669266
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9611496925354004,
+                    "position": [
+                        -0.0894901817664504,
+                        0.09939670123276301,
+                        0.0003220058533770498
+                    ],
+                    "orientation": {
+                        "w": 0.4969076897298538,
+                        "xyz": [
+                            0.49849634948353766,
+                            0.5094251882327121,
+                            -0.4950455686429199
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9608944058418274,
+                    "position": [
+                        -0.12348408903926611,
+                        0.023230814636917785,
+                        -0.08979851819822215
+                    ],
+                    "orientation": {
+                        "w": 0.6910735859822402,
+                        "xyz": [
+                            0.20033115350197675,
+                            0.02006406009672068,
+                            0.6941773269033281
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9593159556388855,
+                    "position": [
+                        -0.08278062846511602,
+                        0.09542135454830714,
+                        0.02255488492301083
+                    ],
+                    "orientation": {
+                        "w": 0.4591345118616315,
+                        "xyz": [
+                            0.55149077881551,
+                            -0.5541955808091806,
+                            0.4218064474502722
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "corrosion spot",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "surface corrosion",
+                "visible wear or damage indicator"
+            ],
+            "semantic_description": "Tiny irregular dark corroded spot on the fork surface, visible as a small pitted worn patch near the fork head.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Cyan part is not a corrosion spot; it is a small hole/opening in the fork head area."
+    }
+}

dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df75c68e9a64a8a899216102ae5ffe6c046197da794a5c19ef3840ac84188614
+size 539384