Add asset kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53

.gitattributes

@@ -8411,3 +8411,4 @@ dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/affordance/m
 dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/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/08bf7aa728e85252b5051cfc9ede36d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/affordance/affordance_annot.json

@@ -0,0 +1,228 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the scalloped outer rim to pick up the coaster from a table",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the rim to reposition or slide the coaster",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the rim to stabilize the coaster while placing or removing a cup",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide main support surface boundary",
+                "help lift the coaster",
+                "stabilize an item placed on top",
+                "define the edge profile"
+            ],
+            "semantic_description": "Broad round blue plastic outer section with a matte to slightly satin finish, hard smooth surface, scalloped edge, and medium-size ring shape forming the perimeter and underside of the coaster.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9664713740348816,
+                    "position": [
+                        -0.0795233960961923,
+                        0.09995284024626017,
+                        0.012511052307672799
+                    ],
+                    "orientation": {
+                        "w": 0.5967860070028184,
+                        "xyz": [
+                            0.33058244366265355,
+                            0.6749791977313506,
+                            -0.2810067479930014
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9649778008460999,
+                    "position": [
+                        0.0126275165239349,
+                        0.12778906617313623,
+                        0.0008769960841163993
+                    ],
+                    "orientation": {
+                        "w": 0.5250959127940281,
+                        "xyz": [
+                            0.47116598613115135,
+                            -0.5212329775436346,
+                            0.48020108184078725
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.960974395275116,
+                    "position": [
+                        0.12105819175485522,
+                        -0.037750679068267345,
+                        -0.007813684525899589
+                    ],
+                    "orientation": {
+                        "w": 0.0886907216243445,
+                        "xyz": [
+                            -0.677479311012977,
+                            0.05968065542536749,
+                            0.7277320649903598
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9586301445960999,
+                    "position": [
+                        -0.021802842966280878,
+                        0.12595674488693476,
+                        0.007601324119605124
+                    ],
+                    "orientation": {
+                        "w": 0.4427603186496342,
+                        "xyz": [
+                            0.538238445826065,
+                            -0.48334307188963843,
+                            0.5297566899250109
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9569337964057922,
+                    "position": [
+                        -0.12062139471527189,
+                        -0.04581268411129713,
+                        0.0016159850274561904
+                    ],
+                    "orientation": {
+                        "w": 0.6948536954692665,
+                        "xyz": [
+                            -0.11909624048129361,
+                            0.6987981641116323,
+                            0.12114269779948834
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9562674164772034,
+                    "position": [
+                        -0.06088212167378515,
+                        0.1089559281244874,
+                        0.022913326625712216
+                    ],
+                    "orientation": {
+                        "w": 0.5447029952152779,
+                        "xyz": [
+                            0.3661613164912869,
+                            0.6920426864006375,
+                            -0.30050200915844316
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9551672339439392,
+                    "position": [
+                        -0.12508549203630537,
+                        -0.0282479552552104,
+                        -0.00012501853052526712
+                    ],
+                    "orientation": {
+                        "w": 0.7060463300423853,
+                        "xyz": [
+                            -0.06689898694742918,
+                            0.702222138770654,
+                            0.06250738515931563
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9534828662872314,
+                    "position": [
+                        -0.1111388694262132,
+                        -0.06577129568904638,
+                        0.001781048733391799
+                    ],
+                    "orientation": {
+                        "w": 0.16919813009689444,
+                        "xyz": [
+                            -0.6808304741120329,
+                            -0.19066873332308498,
+                            -0.6866493227442003
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9525960087776184,
+                    "position": [
+                        -0.12900758197065443,
+                        -0.01025404129177332,
+                        0.0050124143017455935
+                    ],
+                    "orientation": {
+                        "w": 0.6976443488431946,
+                        "xyz": [
+                            -0.026001785263662897,
+                            0.7156989458653095,
+                            0.019781015584218468
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9516136050224304,
+                    "position": [
+                        -0.11740254273172468,
+                        -0.04491566773504019,
+                        0.020454379846341908
+                    ],
+                    "orientation": {
+                        "w": 0.6378563321965706,
+                        "xyz": [
+                            -0.14057517599409738,
+                            0.7539222892208989,
+                            0.07056274645226314
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9499760866165161,
+                    "position": [
+                        0.12383625248912722,
+                        0.02040544804185629,
+                        0.0009346646256744862
+                    ],
+                    "orientation": {
+                        "w": 0.09689655763763219,
+                        "xyz": [
+                            0.7077918984541028,
+                            0.0924524367657985,
+                            -0.6936095677950096
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "center pad",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the base of a cup",
+                "provide a resting surface",
+                "help distribute contact pressure",
+                "protect the tabletop through the coaster body"
+            ],
+            "semantic_description": "Circular light blue central pad with a smooth slightly matte plastic surface, shallow recessed placement, and flat medium-size shape located in the middle of the coaster.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fffcb6138927f7930ae3c48af7a9b20e4f688b6d6beaf1ff4a128eb6ada45af
+size 3778436

dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/coaster_034.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>