Add asset kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0

.gitattributes

@@ -8482,3 +8482,4 @@ dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/affordance/me
 dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/085f0971ab445df3b08c356ac795f5b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/affordance/affordance_annot.json

@@ -0,0 +1,157 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the raised rim from opposite sides to lift the tray",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "pinch a side of the rim to pull or reposition the tray on a surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the rim to stabilize the tray while loading or unloading items",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "provide a gripping edge",
+                "retain items inside the tray",
+                "form raised side walls",
+                "support carrying and repositioning"
+            ],
+            "semantic_description": "Raised medium-brown wooden rim with a matte to satin finish, hard smooth feel, visible wood grain, and a rectangular rounded-corner border running around the tray perimeter.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_10": {
+                    "confidence": 0.9652968049049377,
+                    "position": [
+                        -0.17957895644940436,
+                        0.047947501530870795,
+                        0.05782848969101906
+                    ],
+                    "orientation": {
+                        "w": 0.4449134595147021,
+                        "xyz": [
+                            0.026876125786131955,
+                            0.8941050565140822,
+                            -0.04365587384690626
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "tray bed",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support placed items",
+                "provide a flat holding surface",
+                "contain objects within the rim",
+                "distribute load across the tray"
+            ],
+            "semantic_description": "Flat reddish-brown wooden inner surface with a smooth matte finish, fine wood grain, and a broad rectangular shape forming the main interior base of the tray.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray underside",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the underside and opposite rim to lift the tray from below",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "support the tray from the bottom during transfer or placement",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "support the tray structure",
+                "provide bottom contact surface",
+                "bear load from contents",
+                "stabilize placement on a table"
+            ],
+            "semantic_description": "Large flat brown wooden bottom panel with a matte smooth finish and subtle wood grain, covering most of the underside beneath the tray walls.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.9586451649665833,
+                    "position": [
+                        0.04436646751128137,
+                        0.22041741176508367,
+                        0.0017215488478541374
+                    ],
+                    "orientation": {
+                        "w": 0.4990715415885857,
+                        "xyz": [
+                            0.5130710786470568,
+                            0.49683967483526015,
+                            -0.4907504479284059
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9448023438453674,
+                    "position": [
+                        -0.18883405276574194,
+                        -0.041749445954337716,
+                        0.01510012149810791
+                    ],
+                    "orientation": {
+                        "w": 0.6497897071857377,
+                        "xyz": [
+                            0.08066109473506068,
+                            0.7557421754968034,
+                            -0.010994926419601989
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.939810574054718,
+                    "position": [
+                        -0.19070575782097876,
+                        0.0029850683640688658,
+                        -0.009671057108789682
+                    ],
+                    "orientation": {
+                        "w": 0.7117921513148007,
+                        "xyz": [
+                            -0.0408918418940537,
+                            0.6967799973115443,
+                            0.07859660259632234
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9397218823432922,
+                    "position": [
+                        -0.1903721506241709,
+                        -0.030952371889725327,
+                        0.00045177340507507324
+                    ],
+                    "orientation": {
+                        "w": 0.6825703862887359,
+                        "xyz": [
+                            0.05271626506201679,
+                            0.7288931151292566,
+                            -0.005787043867604722
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83780d887be7daf2d74b0dd557c1ff8967d9697d84f09dac2ec15b3d03d5fa4d
+size 701148