Add asset kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9

.gitattributes

@@ -8639,3 +8639,4 @@ dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/affo
 dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/fa5587eb897a56bbaab33a324ba729c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/affordance/affordance_annot.json

@@ -0,0 +1,235 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle frame",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle frame to pick up and reposition the waiter's corkscrew",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle frame while aligning the corkscrew with a cork",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the tool by clamping the handle during unfolding of the implements",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support the folding tool structure",
+                "provide leverage during use",
+                "house the nested implements"
+            ],
+            "semantic_description": "Large curved silver metal handle/body with a smooth slightly reflective finish, hard texture, and elongated tapered shape forming the outer frame of the folding opener.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_8": {
+                    "confidence": 0.9581331610679626,
+                    "position": [
+                        -0.07342200772836804,
+                        -0.09388759324792773,
+                        0.022580514108994976
+                    ],
+                    "orientation": {
+                        "w": 0.546468482582278,
+                        "xyz": [
+                            -0.45114513649159266,
+                            0.636189573359797,
+                            0.3051279897231384
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9540096521377563,
+                    "position": [
+                        -0.09298119740560651,
+                        -0.08340960333589464,
+                        0.01655248404131271
+                    ],
+                    "orientation": {
+                        "w": 0.6034800532968713,
+                        "xyz": [
+                            -0.3888758781321503,
+                            0.655885339145819,
+                            0.23324193142170827
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9516609907150269,
+                    "position": [
+                        -0.04695189418271184,
+                        0.09139801969286054,
+                        -0.01983611806645058
+                    ],
+                    "orientation": {
+                        "w": 0.5738491793847017,
+                        "xyz": [
+                            0.42607641310901156,
+                            0.4810672848556723,
+                            -0.5076714261737164
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9507942795753479,
+                    "position": [
+                        -0.1208638628013432,
+                        0.04188521986361593,
+                        -0.002913894917583093
+                    ],
+                    "orientation": {
+                        "w": 0.6924099782341787,
+                        "xyz": [
+                            0.11223968781934963,
+                            0.6795565011386806,
+                            -0.21488051628780436
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9461753368377686,
+                    "position": [
+                        -0.07611576514318585,
+                        0.0793632980203256,
+                        -0.00828979499056004
+                    ],
+                    "orientation": {
+                        "w": 0.6422543139175594,
+                        "xyz": [
+                            0.2729742371382777,
+                            0.6166949176483342,
+                            -0.36425518618102737
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "corkscrew worm",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the corkscrew shank to help unfold or orient the tool",
+                    "confidence": 0.38
+                },
+                {
+                    "scenario": "pinch the corkscrew lightly to stabilize the opener during inspection or handoff",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "pierce a cork",
+                "extract a cork by screwing in",
+                "provide helical purchase in cork",
+                "assist wine-opening function"
+            ],
+            "semantic_description": "Thin spiral silver metal screw with a pointed tip, glossy reflective finish, hard smooth texture, and medium-length helical shape folding out from the handle.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foil knife blade",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut bottle foil",
+                "score capsule wrapping",
+                "provide a small cutting edge"
+            ],
+            "semantic_description": "Small pointed silver metal blade with a shiny finish and sharp tapered profile near the pivot, appearing hard, smooth, and edged.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottle opener lever",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the bottle opener lever to unfold or reposition it from the handle",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "grasp the lever end lightly to stabilize the tool while positioning it on a bottle cap",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "hook under bottle cap",
+                "provide leverage for cap lifting",
+                "serve as bottle opener contact point",
+                "support prying action"
+            ],
+            "semantic_description": "Slim silver metal opener lever nested along the handle interior, with a smooth reflective surface, hard texture, and narrow elongated hooked shape.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main hinge rivet",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect moving parts",
+                "act as rotation axis",
+                "secure the folding mechanism"
+            ],
+            "semantic_description": "Small round silver metal rivet at the main joint, with a smooth reflective finish, hard texture, and compact circular form at the opener pivot.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner handle recess",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reduce weight",
+                "provide finger clearance inside the handle opening",
+                "define the inner contour of the handle"
+            ],
+            "semantic_description": "Dark shadowed recessed area along the inner curve of the silver handle, appearing as an open cutout or cavity rather than a separate insert.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small hinge link",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect folding components",
+                "guide implement motion",
+                "support the opener mechanism"
+            ],
+            "semantic_description": "Tiny silver metal link or tab near the center mechanism, with a smooth reflective finish, hard texture, and short narrow shape partially recessed inside the handle.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "secondary end rivet",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten handle components",
+                "act as a secondary pivot or riveted joint",
+                "secure the folding assembly"
+            ],
+            "semantic_description": "Small round silver metal rivet visible at one end of the handle, with a smooth reflective finish, hard texture, and compact circular form.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "One part is not a physical component and some mask-part identities are mismatched."
+    }
+}

dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4c1892e5b09febb5ef120b9a70326b1fde9683768ee7a18656bce51723bc32b
+size 3788400