Add asset kitchen_supplies/tableware/20d047546b6259dfa08eb92c4dd6ca41

.gitattributes

@@ -8454,3 +8454,4 @@ dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/affordance/m
 dataset/kitchen_supplies/tableware/1beaf7b30f695ff89475b0e1ddff6441/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1d571c7d6111543c946c8b15c920c916/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/200521cfb54c59799efc51ffd95f9f42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/20d047546b6259dfa08eb92c4dd6ca41/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/20d047546b6259dfa08eb92c4dd6ca41/affordance/affordance_annot.json

@@ -0,0 +1,230 @@
+{
+    "affordances": [
+        {
+            "part_name": "fork body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle end to pick up and manipulate the fork",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp the middle of the fork to place or reposition it",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the fork while using the tines to spear food",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide the main grip",
+                "spear and hold food",
+                "transfer food to the mouth",
+                "stabilize food during eating",
+                "provide overall structural support"
+            ],
+            "semantic_description": "Single-piece silver-colored metal fork with a reflective smooth hard surface, four narrow tines at one end, and a slim tapered handle with small engraved markings near the neck and handle end.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9780664443969727,
+                    "position": [
+                        -0.03199342731386423,
+                        -0.09176761306298431,
+                        -0.006368990696500987
+                    ],
+                    "orientation": {
+                        "w": 0.5898445503291129,
+                        "xyz": [
+                            -0.43109600298632217,
+                            -0.534603742788946,
+                            -0.4247805090306218
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9767458438873291,
+                    "position": [
+                        -0.06118366867303848,
+                        -0.09573024160636123,
+                        -0.005761641717981547
+                    ],
+                    "orientation": {
+                        "w": 0.6097613952288327,
+                        "xyz": [
+                            -0.48421782932314744,
+                            -0.47625150716721365,
+                            -0.40854453438410404
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.976209819316864,
+                    "position": [
+                        -0.02058751438744366,
+                        -0.09222155458701309,
+                        -0.008800449024420232
+                    ],
+                    "orientation": {
+                        "w": 0.3709689980485516,
+                        "xyz": [
+                            -0.5673261175583885,
+                            0.37810421286433016,
+                            0.6305238163917563
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9759114384651184,
+                    "position": [
+                        -0.0231644767918624,
+                        -0.0899159873224562,
+                        -0.0013604850391857326
+                    ],
+                    "orientation": {
+                        "w": 0.39447162742794606,
+                        "xyz": [
+                            -0.5336233369423687,
+                            0.42987590469251824,
+                            0.6122458460370537
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9747613668441772,
+                    "position": [
+                        -0.019419775810092688,
+                        -0.0880612174369162,
+                        0.013351769943255931
+                    ],
+                    "orientation": {
+                        "w": 0.32316134051667195,
+                        "xyz": [
+                            -0.6187421116156242,
+                            0.4145922206041074,
+                            0.583813530096263
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.973223090171814,
+                    "position": [
+                        -0.01565445400774479,
+                        0.09039636306988541,
+                        -0.0026014807517640293
+                    ],
+                    "orientation": {
+                        "w": 0.3581342351666121,
+                        "xyz": [
+                            0.5661511968706312,
+                            0.39776708921558424,
+                            -0.6268923628666556
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9724574089050293,
+                    "position": [
+                        -0.018856428563594818,
+                        0.09246269964205567,
+                        0.005148510739672929
+                    ],
+                    "orientation": {
+                        "w": 0.37811738996594985,
+                        "xyz": [
+                            0.5662224990146448,
+                            0.43128978317359146,
+                            -0.5919530757965743
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9721866846084595,
+                    "position": [
+                        -0.006853180006146431,
+                        0.08755023383127991,
+                        -0.007444729271810502
+                    ],
+                    "orientation": {
+                        "w": 0.32756536258417046,
+                        "xyz": [
+                            0.5677669503174806,
+                            0.3673043619745757,
+                            -0.6598705396035938
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9719489812850952,
+                    "position": [
+                        -0.014551161788403988,
+                        0.08979602508770768,
+                        0.004403336031828076
+                    ],
+                    "orientation": {
+                        "w": 0.32836117671235987,
+                        "xyz": [
+                            0.5844294101794906,
+                            0.39755386624946343,
+                            -0.6265557641387003
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9710314869880676,
+                    "position": [
+                        -0.047005198895931244,
+                        -0.0969357753492659,
+                        -0.001929603226017207
+                    ],
+                    "orientation": {
+                        "w": 0.554918157365981,
+                        "xyz": [
+                            -0.49527007557931324,
+                            -0.5031959730624902,
+                            -0.43996272973389283
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9707800149917603,
+                    "position": [
+                        -0.01619149884209037,
+                        0.08745329432713334,
+                        -0.01003846264211461
+                    ],
+                    "orientation": {
+                        "w": 0.3499338748173437,
+                        "xyz": [
+                            0.5660065161911026,
+                            0.36770946411994776,
+                            -0.6495942247904855
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9703829288482666,
+                    "position": [
+                        -0.027296643471345305,
+                        0.09425483994709793,
+                        0.0008661797037348151
+                    ],
+                    "orientation": {
+                        "w": 0.592154973009701,
+                        "xyz": [
+                            0.4461394058760595,
+                            -0.5415997810054479,
+                            0.39620928267683025
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/20d047546b6259dfa08eb92c4dd6ca41/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa4eba687cf0d5a3a912e6e02151bc7f550e386e2eb9adea53f6e28191e45ce6
+size 3781724

dataset/kitchen_supplies/tableware/20d047546b6259dfa08eb92c4dd6ca41/fork_037.urdf

@@ -57,6 +57,7 @@
                <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>