Add asset kitchen_supplies/utensils/339dda4e77fa56c7b3f406ea7ac37566

.gitattributes

@@ -8650,3 +8650,4 @@ dataset/kitchen_supplies/utensils/2c68e63527fa5bff96c72552156449c7/affordance/me
 dataset/kitchen_supplies/utensils/2cb84837c3985339aa569aeb7ef79977/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/2d8530c2a2b15b6080e76bc2ddde8728/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/339dda4e77fa56c7b3f406ea7ac37566/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/339dda4e77fa56c7b3f406ea7ac37566/affordance/affordance_annot.json

@@ -0,0 +1,94 @@
+{
+    "affordances": [
+        {
+            "part_name": "top foam layer",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top foam surface and side edge to pick up and reposition the sponge",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "press the top face against a surface while holding the sponge for wiping or washing",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide soft cleaning surface",
+                "form upper contact face",
+                "help distribute pressure during wiping",
+                "indicate orientation of the sponge"
+            ],
+            "semantic_description": "Thin bright yellow foam top layer with a matte finish and smooth to slightly textured surface, forming the flat upper face of the rectangular sponge.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "sponge body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sponge body from the sides to pick up the sponge",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "compress the body slightly to hold and wipe a surface",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "stabilize the sponge body while pressing it against a surface for cleaning",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "absorb water",
+                "hold cleaning liquid",
+                "provide main grip area",
+                "cushion contact during wiping",
+                "support the top foam layer"
+            ],
+            "semantic_description": "Large green rectangular sponge base made of soft porous foam with a matte finish and fine open texture, occupying most of the object below the top layer.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.46036309003829956,
+                    "position": [
+                        -0.026087673017173074,
+                        -0.15818624885287136,
+                        -0.028088720981031656
+                    ],
+                    "orientation": {
+                        "w": 0.6744206719983461,
+                        "xyz": [
+                            -0.2880757754510168,
+                            0.5439319345072642,
+                            0.40780774318639396
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.4326765239238739,
+                    "position": [
+                        -0.13719010130444076,
+                        -0.06729144544806331,
+                        -0.002913935109972954
+                    ],
+                    "orientation": {
+                        "w": 0.7061213006749779,
+                        "xyz": [
+                            0.0409406700435763,
+                            0.7067226864294841,
+                            -0.0161125651388452
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/339dda4e77fa56c7b3f406ea7ac37566/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca38437370de9387ede7475fa8ac0dfc8f4d525beec39bb94b9b6c37c0676cc3
+size 655380