Add asset kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2

.gitattributes

@@ -7451,4 +7451,5 @@ dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/affordance/me
 dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/affordance/affordance_annot.json

@@ -0,0 +1,100 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray frame with handles",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side frame to lift and carry the tray",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp near a handle cutout to pull or reposition the tray on a surface",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "pinch the rim to stabilize the tray while loading or unloading items",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide structural support",
+                "form raised retaining walls",
+                "enable side gripping",
+                "help carry the tray",
+                "protect contents from sliding out"
+            ],
+            "semantic_description": "White painted wood frame with a matte smooth hard surface, shallow rectangular shape, medium-width raised rim around the tray, and elongated oval handle cutouts on the short and long sides.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.93919438123703,
+                    "position": [
+                        0.07732069329358637,
+                        -0.20526118850102648,
+                        0.0029712682589888573
+                    ],
+                    "orientation": {
+                        "w": 0.36457381760589547,
+                        "xyz": [
+                            -0.6070038337770125,
+                            0.37859416434350124,
+                            0.5960694053726618
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9272754192352295,
+                    "position": [
+                        0.11509328172542155,
+                        -0.20141259109368548,
+                        9.157601743936539e-05
+                    ],
+                    "orientation": {
+                        "w": 0.35059689362552754,
+                        "xyz": [
+                            -0.6134500483011485,
+                            0.3513405342639939,
+                            0.6142643448895108
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner tray surface",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support placed items",
+                "provide a flat serving surface",
+                "hold contents inside the tray",
+                "distribute load across the base"
+            ],
+            "semantic_description": "White wooden slatted top surface with a matte smooth hard finish, flat rectangular shape recessed inside the rim, and visible narrow plank seams running lengthwise.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the tray from below",
+                "rest on tables or counters",
+                "add base rigidity",
+                "stabilize carried contents"
+            ],
+            "semantic_description": "Dark gray to black wooden underside panel with a matte hard smooth finish, broad flat rectangular shape covering most of the bottom, and visible longitudinal slat divisions.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9452d8394cb3f4c7fb68756d951eebfeeadee4f486485323efd3b2f6f7214dc6
+size 1049564