Add asset kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b

.gitattributes

@@ -7461,3 +7461,4 @@ dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/affordance/me
 dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/affordance/affordance_annot.json

@@ -0,0 +1,205 @@
+{
+    "affordances": [
+        {
+            "part_name": "spatula head",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the head to stabilize the utensil during handoff or repositioning",
+                    "confidence": 0.3
+                },
+                {
+                    "scenario": "lightly pinch the edge of the head to reorient the utensil in a tool-changing setup",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "slide under food",
+                "lift and turn food",
+                "scrape a cooking surface",
+                "provide a broad contact surface"
+            ],
+            "semantic_description": "Broad light gray spatula head with a smooth matte silicone or rubber-like surface, thin with rounded corners and a slightly curved paddle shape, forming the wide working end of the utensil.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_11": {
+                    "confidence": 0.957804262638092,
+                    "position": [
+                        -0.09029170777648687,
+                        -0.1255355795728974,
+                        0.0016507424879819155
+                    ],
+                    "orientation": {
+                        "w": 0.4972653429459781,
+                        "xyz": [
+                            -0.5377903687166126,
+                            -0.4931818168809323,
+                            -0.4693403812996398
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9568778276443481,
+                    "position": [
+                        -0.05253512319177389,
+                        0.1182608807575889,
+                        -0.007626194041222334
+                    ],
+                    "orientation": {
+                        "w": 0.44743053091758156,
+                        "xyz": [
+                            0.5477220606201619,
+                            0.41962868619969973,
+                            -0.5689624153062559
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and carry the spatula",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to manipulate the spatula while flipping or scraping food",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle to pull the utensil from storage by the hanging end",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "provide primary grip",
+                "control utensil orientation",
+                "keep hand away from hot surface",
+                "support hanging storage"
+            ],
+            "semantic_description": "Elongated light tan or beige handle with a smooth hard finish, rounded edges, and an orange hanging-hole insert near the end, located opposite the spatula head.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.9783218502998352,
+                    "position": [
+                        0.025235270150005817,
+                        -0.005296711518894881,
+                        -0.09467796282842755
+                    ],
+                    "orientation": {
+                        "w": 0.7194955869680134,
+                        "xyz": [
+                            -0.08595540787330314,
+                            0.06331846240697903,
+                            -0.6862423336615886
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9774473905563354,
+                    "position": [
+                        0.04793562088161707,
+                        -0.026860669429879636,
+                        -0.08992142276838422
+                    ],
+                    "orientation": {
+                        "w": 0.7121466962204024,
+                        "xyz": [
+                            -0.08399660884463796,
+                            -0.11071460462870741,
+                            -0.6881380160163192
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9764354825019836,
+                    "position": [
+                        0.10145759675651789,
+                        -0.09672671760199592,
+                        0.0007871075067669153
+                    ],
+                    "orientation": {
+                        "w": 0.4814182665640476,
+                        "xyz": [
+                            -0.5491336024411705,
+                            0.4353107882703796,
+                            0.5264914594785669
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.9752745032310486,
+                    "position": [
+                        0.05048298183828592,
+                        -0.003908142389263958,
+                        -0.09577637212350965
+                    ],
+                    "orientation": {
+                        "w": 0.7360051715850131,
+                        "xyz": [
+                            -0.006501801318673057,
+                            -0.018088262577433123,
+                            -0.6767029841345888
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.9751906991004944,
+                    "position": [
+                        0.12145109567791224,
+                        -0.09315242076991126,
+                        -0.01112310541793704
+                    ],
+                    "orientation": {
+                        "w": 0.4353012800192282,
+                        "xyz": [
+                            -0.5588776198358705,
+                            0.34607889951724735,
+                            0.6151406318632716
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9745481014251709,
+                    "position": [
+                        0.11624036822468042,
+                        0.09917266463162377,
+                        -0.01105023780837655
+                    ],
+                    "orientation": {
+                        "w": 0.4732117058584965,
+                        "xyz": [
+                            0.5592103615910627,
+                            0.3473834555683032,
+                            -0.5853880659230328
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle collar",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect handle to head",
+                "reinforce the joint",
+                "provide a transition stop",
+                "stabilize the utensil structure"
+            ],
+            "semantic_description": "Small light tan or beige collar at the head-handle junction, with a smooth hard surface and ring-like shape that thickens the transition area.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:617c1f70edbda880d2f502941dd2a71947295e4363fbb24cb63841995fc193b7
+size 3780116