Add asset kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff

.gitattributes

@@ -7227,4 +7227,4 @@ dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/affordance/m
 dataset/kitchen_supplies/tableware/3be115aa83c45def8b804002b0765723/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/3c1abed98182516d9ede2603312a2abb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/3cfba05326d2572f8d86c917bd464664/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/3d5a8cad7c3c5a80bee0960d34115c25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/affordance/affordance_annot.json

@@ -0,0 +1,204 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one side handle to lift and carry the tray",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold a side handle to pull the tray across a surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp a handle to stabilize the tray while repositioning it",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift and carry the tray",
+                "pull the tray",
+                "help stabilize while moving"
+            ],
+            "semantic_description": "Oval open-loop handle in a tan woven or braided material with a matte finish, hard slightly textured surface, and medium size attached to the tray rim on each short side.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one side handle to lift and carry the tray",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold a side handle to pull the tray across a surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp a handle to stabilize the tray while repositioning it",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift and carry the tray",
+                "pull the tray",
+                "help stabilize while moving"
+            ],
+            "semantic_description": "Oval open-loop handle in a tan woven or braided material with a matte finish, hard slightly textured surface, and medium size attached to the tray rim on each short side.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_56": {
+                    "confidence": 0.33886268734931946,
+                    "position": [
+                        0.026419316534884274,
+                        -0.13857645820826292,
+                        0.1146012992830947
+                    ],
+                    "orientation": {
+                        "w": 0.05564669810744612,
+                        "xyz": [
+                            0.6878129020146008,
+                            0.7234741863467488,
+                            0.020048902760551667
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "tray base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray body from opposite outer sides to pick it up when handles are unavailable",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "support the tray from below with a gripper during lifting",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support carried items",
+                "form the main tray structure",
+                "provide a flat resting surface",
+                "distribute load"
+            ],
+            "semantic_description": "Large rectangular central body with a light cream insert and blue border, likely woven over a rigid frame, with a matte finish, hard smooth-to-fine-textured surface, and shallow recessed form.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_38": {
+                    "confidence": 0.01551078911870718,
+                    "position": [
+                        0.05041967623401433,
+                        -0.05910571198910475,
+                        -0.10344725090544671
+                    ],
+                    "orientation": {
+                        "w": 0.10417453041308088,
+                        "xyz": [
+                            -0.11446118048177253,
+                            0.19416453055352456,
+                            -0.968682837904576
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner side wall",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain items laterally",
+                "keep objects from sliding out",
+                "connect base to rim",
+                "define tray depth"
+            ],
+            "semantic_description": "Narrow sloped inner wall around the base, tan-brown with visible woven pattern, matte finish, hard slightly rough texture, and continuous border inside the tray perimeter.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim edge to lift the tray when the handle is not accessible",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "pinch the rim to tilt or rotate the tray for placement",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold the rim to stabilize the tray during loading or unloading",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "stiffen the tray perimeter",
+                "provide an edge grip",
+                "contain items",
+                "protect the upper edge"
+            ],
+            "semantic_description": "Raised rectangular rim in tan and brown woven material with decorative patterning, matte finish, hard slightly rough texture, and rounded corners running around the tray top edge.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom edge",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support contact with surfaces",
+                "protect the underside",
+                "stabilize the tray footprint",
+                "finish the lower perimeter"
+            ],
+            "semantic_description": "Thin lower perimeter band on the underside, appearing tan to brown with a matte woven finish, hard slightly rough texture, and a continuous strip around the tray bottom edge.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "outer side wall",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite outer side walls to lift the tray body",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "hold an outer side wall to steady the tray against rotation",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "form the outer structure",
+                "support the rim",
+                "connect top and bottom edges",
+                "provide lateral stiffness"
+            ],
+            "semantic_description": "Outer vertical wall of the tray, tan-brown with woven texture and matte finish, hard slightly rough surface, medium-height rectangular shape, and continuous exterior around the tray sides.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d42de519e94a70451dcb1c8bdddc3bf5bee02b4a56cc6b08fc6a4f46f6cdd526
+size 3786436

dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/tray_071.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>