Add asset kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34

.gitattributes

@@ -8492,3 +8492,4 @@ dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/affordance/me
 dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/affordance/affordance_annot.json

@@ -0,0 +1,270 @@
+{
+    "affordances": [
+        {
+            "part_name": "inner tray basin",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "place a suction gripper on the flat inner basin to lift or stabilize the empty tray",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "use broad gripper contact inside the basin to steady the tray during handling",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "hold small items",
+                "provide a shallow containment area",
+                "support served objects",
+                "present contents"
+            ],
+            "semantic_description": "Shallow oval interior basin of the tray in light warm brown wood with visible grain, smooth finish, and a recessed central surface surrounded by a raised rim.",
+            "id": 0,
+            "grasp_group": {
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+                    "confidence": 0.10759464651346207,
+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            0.07239690439433177,
+                            0.27574290811003044
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8294022083282471,
+                    "position": [
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+                        0.2843774986686185,
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+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.5271092115049345,
+                            0.4748550837280858
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.797304093837738,
+                    "position": [
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+                        0.2869768870295957,
+                        -0.0016924655064940453
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.48908535554792043,
+                            -0.5141154284756799
+                        ]
+                    }
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+                "grasp_6": {
+                    "confidence": 0.783176600933075,
+                    "position": [
+                        0.022451392811490223,
+                        0.28596989635843784,
+                        -0.0006429695058614016
+                    ],
+                    "orientation": {
+                        "w": 0.5266115294997458,
+                        "xyz": [
+                            0.47441415880908167,
+                            -0.5261612689149084,
+                            0.46985723577834104
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.775963544845581,
+                    "position": [
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+                        -0.020643429714255035,
+                        0.004372009774670005
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.7187966794689088,
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+                    }
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+                "grasp_8": {
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+                    "position": [
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+                        0.2785639298381284,
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+                    "orientation": {
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+                        "xyz": [
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+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            0.4967024872733615,
+                            -0.4784995969030126
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+                    }
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+                "grasp_11": {
+                    "confidence": 0.7540392279624939,
+                    "position": [
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+                        0.27599324111361057,
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+                    "orientation": {
+                        "w": 0.5363521333514217,
+                        "xyz": [
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+                "grasp_12": {
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+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.5657779545545497
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+                "grasp_13": {
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+                    "position": [
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+                        -0.0002200617454946041
+                    ],
+                    "orientation": {
+                        "w": 0.5111424623337241,
+                        "xyz": [
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+                            0.48999666199255043,
+                            -0.49798877046190343
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.7371997237205505,
+                    "position": [
+                        -0.006031110911862925,
+                        0.2866204810561612,
+                        0.0014920637477189302
+                    ],
+                    "orientation": {
+                        "w": 0.5284089169221126,
+                        "xyz": [
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+                            0.5173165255703791,
+                            -0.46349980694410414
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.7236794829368591,
+                    "position": [
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+                        -0.03581860091071576,
+                        0.003689959878101945
+                    ],
+                    "orientation": {
+                        "w": 0.1007062316493425,
+                        "xyz": [
+                            -0.6967839392033494,
+                            -0.0716717473261308,
+                            -0.7065504635979454
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.7121279239654541,
+                    "position": [
+                        -0.2813113038719166,
+                        -0.04003271262627095,
+                        0.008267276687547565
+                    ],
+                    "orientation": {
+                        "w": 0.695528032267653,
+                        "xyz": [
+                            -0.03305442227060301,
+                            0.7172374265759527,
+                            0.0268073761668067
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "tray rim and underside body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer rim from opposite sides to lift the tray",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "pinch the side wall or rim at one side to reposition the empty tray",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "support or grip the underside body while stabilizing the tray during pickup",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "provide a gripping edge",
+                "retain items within the tray",
+                "form a raised boundary",
+                "support lifting and carrying",
+                "form the exterior side wall and underside base"
+            ],
+            "semantic_description": "Raised oval perimeter plus the exterior underside body of the tray in warm honey-brown wood with visible grain, smooth finish, rounded side wall, and a broad oval bottom surface.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2127344