Add asset kitchen_supplies/tableware/1b441170e15455b499d6b94b337fb615

.gitattributes

@@ -8447,3 +8447,4 @@ dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/affordance/m
 dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1ad89a48b7895f06a2e9ce1650048631/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1b441170e15455b499d6b94b337fb615/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/1b441170e15455b499d6b94b337fb615/affordance/affordance_annot.json

@@ -0,0 +1,194 @@
+{
+    "affordances": [
+        {
+            "part_name": "spoon top side",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the spoon across the upper side to pick it up from a table",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the upper side near the handle for general manipulation",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "stabilize the spoon by contacting the upper side during repositioning",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "upper exterior and interior visible surface",
+                "supports handling from the top side",
+                "includes the food-contact side of the bowl",
+                "provides access to printed handle markings"
+            ],
+            "semantic_description": "The visible top side of a small white plastic spoon with a smooth matte to slightly satin finish. It includes the concave bowl interior and the upper face of the tapered handle, with small dark printed markings near the handle end and a hanging hole.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.8061853051185608,
+                    "position": [
+                        0.15302846021950245,
+                        0.04826426546424045,
+                        0.007466947412467562
+                    ],
+                    "orientation": {
+                        "w": 0.1536601260568993,
+                        "xyz": [
+                            0.6902551472602558,
+                            0.19958648703016368,
+                            -0.6783079179368753
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.7746766805648804,
+                    "position": [
+                        0.1563724149018526,
+                        0.043646272675687214,
+                        0.0016834337584441528
+                    ],
+                    "orientation": {
+                        "w": 0.16939808689412472,
+                        "xyz": [
+                            0.6788131479573921,
+                            0.16098054070668721,
+                            -0.6961337973626688
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.7634478211402893,
+                    "position": [
+                        0.1620436478406191,
+                        0.029423728989058873,
+                        -0.0017050044989446178
+                    ],
+                    "orientation": {
+                        "w": 0.7125716720863752,
+                        "xyz": [
+                            0.10798575972418618,
+                            -0.6857575806090916,
+                            0.10157375878632725
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "spoon underside",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the spoon by contacting the underside when lifting from below",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "pinch the underside and top side together to reposition the spoon",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "support the spoon from the underside during placement or retrieval",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "bottom exterior surface",
+                "supports the spoon structurally",
+                "provides contact surface when resting on or lifted from below",
+                "forms the back of the bowl and handle"
+            ],
+            "semantic_description": "The underside of the same white plastic spoon, smooth and slightly matte. It shows the convex back of the bowl and the lower face of the handle, matching the spoon\u2019s narrow tapered shape and overall compact size.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.5844321250915527,
+                    "position": [
+                        -0.11210868321359158,
+                        7.167888907133602e-05,
+                        -0.04763198063301388
+                    ],
+                    "orientation": {
+                        "w": 0.6295410301338036,
+                        "xyz": [
+                            0.3416438971122086,
+                            0.37776752931040625,
+                            0.5867275626240545
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.6552702784538269,
+                    "position": [
+                        -0.09700370393693447,
+                        -0.011826201869553188,
+                        -0.06113113999890629
+                    ],
+                    "orientation": {
+                        "w": 0.664412608655835,
+                        "xyz": [
+                            -0.33998417025407845,
+                            0.27281987150320486,
+                            -0.6070716326338833
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.5798267722129822,
+                    "position": [
+                        -0.1071035023778677,
+                        0.013124252142006299,
+                        -0.055917856996529736
+                    ],
+                    "orientation": {
+                        "w": 0.7039830805852169,
+                        "xyz": [
+                            0.34697415857020547,
+                            0.3248313799941017,
+                            0.527732252288386
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.26795265078544617,
+                    "position": [
+                        -0.13322160951793194,
+                        0.009801152566069504,
+                        -0.015859501218074
+                    ],
+                    "orientation": {
+                        "w": 0.5444731018131603,
+                        "xyz": [
+                            -0.4290254156542878,
+                            0.4735497112620872,
+                            -0.5433570696036036
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.841008722782135,
+                    "position": [
+                        0.03920762799680233,
+                        -0.024572338505095104,
+                        -0.07556586504506413
+                    ],
+                    "orientation": {
+                        "w": 0.5398399813350053,
+                        "xyz": [
+                            0.16737037696676582,
+                            -0.2949318862071134,
+                            -0.7704382739483667
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/1b441170e15455b499d6b94b337fb615/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a441dc6d0029232d57f61c4316d3c1349051a8c42277f9753585d3e67fa5d60
+size 3771928

dataset/kitchen_supplies/tableware/1b441170e15455b499d6b94b337fb615/spoon_022.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>