Add asset kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4

.gitattributes

@@ -7444,4 +7444,5 @@ dataset/kitchen_supplies/utensils/62532811104d5fadad69ca298ef4db5e/affordance/me
 dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/affordance/affordance_annot.json

@@ -0,0 +1,230 @@
+{
+    "affordances": [
+        {
+            "part_name": "grinder body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mid body to pick up and move the grinder",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body while twisting the top section to grind",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "stabilize the grinder body during placement on a table",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain spice and internal mechanism",
+                "support twisting operation",
+                "provide structural body"
+            ],
+            "semantic_description": "Tall white central housing with a smooth hard surface and vertical fluted texture, forming a slightly waisted cylindrical body in the middle of the grinder.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.8149788975715637,
+                    "position": [
+                        0.11448555142851546,
+                        -0.011821205960586667,
+                        -0.03574148565530777
+                    ],
+                    "orientation": {
+                        "w": 0.47483050429860085,
+                        "xyz": [
+                            -0.5556879236192593,
+                            -0.5064251056175308,
+                            0.45747189654832926
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.804426372051239,
+                    "position": [
+                        0.06772669852944091,
+                        0.08961599948816001,
+                        -0.034114718437194824
+                    ],
+                    "orientation": {
+                        "w": 0.21002915280635773,
+                        "xyz": [
+                            -0.22791394358560604,
+                            -0.6840157158180844,
+                            0.6603525496313123
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.799885094165802,
+                    "position": [
+                        0.08557529450627044,
+                        0.07784719648770988,
+                        -0.034813884645700455
+                    ],
+                    "orientation": {
+                        "w": 0.2672010123611881,
+                        "xyz": [
+                            -0.2826834486416415,
+                            -0.6688281182839412,
+                            0.6335318737443185
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top cap",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the broad top cap to rotate it during grinding",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the upper cap to reorient or steady the grinder",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "enable twisting to grind",
+                "form the upper hand-contact surface",
+                "cover the top assembly",
+                "support top mechanism"
+            ],
+            "semantic_description": "Broad rounded white top cap with a smooth hard satin-like finish and shallow domed profile, sitting on the upper end of the grinder.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "turning knob",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small top knob for fine adjustment or light twisting",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "use the knob as a delicate alignment point while manipulating the top",
+                    "confidence": 0.27
+                }
+            ],
+            "functional_labels": [
+                "small top grip point",
+                "assist fine adjustment",
+                "secure top assembly",
+                "mark top center"
+            ],
+            "semantic_description": "Small white cylindrical knob with a smooth hard finish and slightly stepped profile, centered at the very top of the grinder.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_54": {
+                    "confidence": 0.22882921993732452,
+                    "position": [
+                        -0.015142749238293618,
+                        -0.002635632874444127,
+                        0.18743013590574265
+                    ],
+                    "orientation": {
+                        "w": 0.07954822274703631,
+                        "xyz": [
+                            0.7139611368114728,
+                            0.693964713195886,
+                            0.048420576407235454
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.20491570234298706,
+                    "position": [
+                        -0.047616708267014474,
+                        -0.006788448663428426,
+                        0.1883799210190773
+                    ],
+                    "orientation": {
+                        "w": 0.11455219460079559,
+                        "xyz": [
+                            -0.3922006818236861,
+                            0.9091815197348598,
+                            -0.08028314930162639
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.1908673197031021,
+                    "position": [
+                        0.012399300758261234,
+                        0.04014165583066642,
+                        0.18785057216882706
+                    ],
+                    "orientation": {
+                        "w": 0.16415887549409736,
+                        "xyz": [
+                            0.9659946724460717,
+                            0.19934714374521295,
+                            -0.012917920999361504
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "adjustment ring",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the narrow ring under the knob to make a fine grind-setting adjustment",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "use the ring as a small contact point while rotating the top assembly",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "adjust grind setting",
+                "provide a narrow turning surface",
+                "interface between knob and cap",
+                "support top adjustment mechanism"
+            ],
+            "semantic_description": "Small white circular ring directly beneath the top knob, with a smooth hard finish and narrow stepped shape visible at the center of the top cap.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower base to lift the grinder from below or from a lying position",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the base to stabilize the grinder while adjusting the top",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "support upright standing",
+                "provide stable contact with table",
+                "protect the lower end",
+                "assist stabilization"
+            ],
+            "semantic_description": "Wide white circular base with a smooth hard finish and slightly flared disk shape at the bottom, larger than the mid body for stable support.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee70aec2230389e0f010cfdc89330b7f316601afc55bd8bd97f6957b813a0dad
+size 802188