Add asset kitchen_supplies/tableware/07369dcfb16756b7b30d12395ec3bc5a

.gitattributes

@@ -8409,4 +8409,4 @@ dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/affordance/m
 dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/08325a3e601a5ca6859d6c613ab044ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/07369dcfb16756b7b30d12395ec3bc5a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/07369dcfb16756b7b30d12395ec3bc5a/affordance/affordance_annot.json

@@ -0,0 +1,178 @@
+{
+    "affordances": [
+        {
+            "part_name": "chopstick",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one chopstick near the decorated blunt end to pick up and reposition it",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold one chopstick along its shaft while pairing it with the other chopstick",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pinch the midsection of one chopstick to load it into a tool holder or drawer",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "grasp and manipulate food with its pair",
+                "provide one half of the utensil pair",
+                "pinch against the other chopstick",
+                "indicate handling end with decorative band"
+            ],
+            "semantic_description": "A long slender white chopstick, likely plastic or lacquered wood, with a smooth hard glossy surface, tapered shape, blunt decorated top end, and a small pointed tip.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_10": {
+                    "confidence": 0.7064611911773682,
+                    "position": [
+                        -0.0021097022690810263,
+                        0.16865899629192427,
+                        0.0029550224826380145
+                    ],
+                    "orientation": {
+                        "w": 0.5011746761666682,
+                        "xyz": [
+                            0.46646860429132725,
+                            0.5271281042079595,
+                            -0.5033556863032934
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.7001922130584717,
+                    "position": [
+                        0.0023299059248529375,
+                        0.16954521305160597,
+                        0.0036181716532155406
+                    ],
+                    "orientation": {
+                        "w": 0.45751525772107865,
+                        "xyz": [
+                            0.4379200797953209,
+                            0.5540919985435114,
+                            -0.5402664618635252
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.6977370381355286,
+                    "position": [
+                        -0.0008496916270814836,
+                        0.1635203457553871,
+                        0.0008475839094899129
+                    ],
+                    "orientation": {
+                        "w": 0.46962620970421737,
+                        "xyz": [
+                            0.44386994253146644,
+                            0.5421577785807167,
+                            -0.5371179017686767
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.6793768405914307,
+                    "position": [
+                        -0.0007983081741258502,
+                        0.16603339678840712,
+                        0.0018426503338559996
+                    ],
+                    "orientation": {
+                        "w": 0.5363179276820599,
+                        "xyz": [
+                            0.5078406327141991,
+                            0.4820729174802162,
+                            -0.4712395085764513
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.6730276942253113,
+                    "position": [
+                        0.002490067097824067,
+                        0.17191574937896803,
+                        0.01136961670636083
+                    ],
+                    "orientation": {
+                        "w": 0.4709818495493194,
+                        "xyz": [
+                            0.48756568957138563,
+                            -0.539494052247172,
+                            0.49940160526154376
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "chopstick",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one chopstick near the decorated blunt end to pick up and reposition it",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold one chopstick along its shaft while pairing it with the other chopstick",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pinch the midsection of one chopstick to load it into a tool holder or drawer",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "grasp and manipulate food with its pair",
+                "provide one half of the utensil pair",
+                "pinch against the other chopstick",
+                "indicate handling end with decorative band"
+            ],
+            "semantic_description": "A matching long slender white chopstick, likely plastic or lacquered wood, with a smooth hard glossy surface, tapered shape, blunt decorated top end, and a small pointed tip.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.6970534920692444,
+                    "position": [
+                        -0.006046667753253132,
+                        -0.1772084438125603,
+                        -0.00060729905453627
+                    ],
+                    "orientation": {
+                        "w": 0.5214590298959249,
+                        "xyz": [
+                            -0.4845087501152089,
+                            0.5036172301353399,
+                            0.48959313384953307
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.6900772452354431,
+                    "position": [
+                        0.004327064321842045,
+                        0.16357430286007002,
+                        0.0032935915332927834
+                    ],
+                    "orientation": {
+                        "w": 0.538727025832065,
+                        "xyz": [
+                            0.5135067116230844,
+                            -0.4841735979241485,
+                            0.4600651865000964
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/07369dcfb16756b7b30d12395ec3bc5a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eb0dfb83b36708f957216ec9db3e0031d8057ddb8a8eba18fa7ca3437494bb2
+size 72500896

dataset/kitchen_supplies/tableware/07369dcfb16756b7b30d12395ec3bc5a/chopsticks_004.urdf

@@ -54,6 +54,7 @@
                <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>