Add asset kitchen_supplies/utensils/2d8530c2a2b15b6080e76bc2ddde8728

.gitattributes

@@ -8648,3 +8648,4 @@ dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/affordance/me
 dataset/kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/2c68e63527fa5bff96c72552156449c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/2d8530c2a2b15b6080e76bc2ddde8728/affordance/affordance_annot.json

@@ -0,0 +1,252 @@
+{
+    "affordances": [
+        {
+            "part_name": "spatula blade and neck",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the metal neck near the handle to stabilize or reposition the spatula when the main handle is obstructed",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "pinch the blade edge or lower neck to pick up the spatula from a flat surface in a constrained setup",
+                    "confidence": 0.24
+                }
+            ],
+            "functional_labels": [
+                "slide under food",
+                "lift and turn food",
+                "scrape cooking surfaces",
+                "transfer force from handle to blade"
+            ],
+            "semantic_description": "Silver metal working portion consisting of a broad flat spatula blade and a narrow curved neck, with a smooth lightly reflective finish; the blade is thin and roughly rectangular with rounded corners and an offset bend where it transitions into the neck.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9605860710144043,
+                    "position": [
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+                        0.04909780647722073,
+                        -0.08176403801189736
+                    ],
+                    "orientation": {
+                        "w": 0.6697750494983661,
+                        "xyz": [
+                            0.2670895745164524,
+                            -0.12050832670080525,
+                            0.6823065919730329
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9547196626663208,
+                    "position": [
+                        0.08082191087305546,
+                        0.0965115207072813,
+                        -0.01070984109537676
+                    ],
+                    "orientation": {
+                        "w": 0.5197260707103668,
+                        "xyz": [
+                            0.5038027621356125,
+                            0.4431445816845244,
+                            -0.5288577010993953
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9365667104721069,
+                    "position": [
+                        0.0417488981038332,
+                        0.0861091690894682,
+                        -0.03337590704904869
+                    ],
+                    "orientation": {
+                        "w": 0.5074037577382307,
+                        "xyz": [
+                            0.48318550364041885,
+                            -0.3013919022825463,
+                            0.6467117726958326
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9336351156234741,
+                    "position": [
+                        0.034212129190564156,
+                        0.08573296692338772,
+                        0.011021034501027316
+                    ],
+                    "orientation": {
+                        "w": 0.31942742015183084,
+                        "xyz": [
+                            0.6362934579704743,
+                            -0.39108707362713513,
+                            0.5832217926662945
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9270225763320923,
+                    "position": [
+                        0.10143997706472874,
+                        0.06664382692542858,
+                        -0.06928653578506783
+                    ],
+                    "orientation": {
+                        "w": 0.6673578601342819,
+                        "xyz": [
+                            0.2988026139287143,
+                            0.20878819485552425,
+                            -0.6494289600220579
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9038789868354797,
+                    "position": [
+                        -0.15401811711490154,
+                        -0.1433604729536455,
+                        0.013430599763523787
+                    ],
+                    "orientation": {
+                        "w": 0.4030775971954717,
+                        "xyz": [
+                            -0.43862973731862126,
+                            0.5692270365994984,
+                            0.5666683200806938
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.903261125087738,
+                    "position": [
+                        -0.15724787674844265,
+                        -0.14349486652645282,
+                        0.013462193950545043
+                    ],
+                    "orientation": {
+                        "w": 0.41404276732002193,
+                        "xyz": [
+                            -0.4359615570169053,
+                            0.5777929972179582,
+                            0.5519613754596083
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9029735326766968,
+                    "position": [
+                        -0.15701672993600368,
+                        -0.14454648617538624,
+                        0.02117895585251972
+                    ],
+                    "orientation": {
+                        "w": 0.5533365017001728,
+                        "xyz": [
+                            -0.6136510447929497,
+                            -0.42593540783858663,
+                            -0.3685514068079419
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.902955174446106,
+                    "position": [
+                        -0.1634607370942831,
+                        -0.14556629184517078,
+                        0.019970287277828902
+                    ],
+                    "orientation": {
+                        "w": 0.5525872766047234,
+                        "xyz": [
+                            -0.608114992967031,
+                            -0.42032515644390345,
+                            -0.3849288504693968
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9026660919189453,
+                    "position": [
+                        -0.16562377475202084,
+                        -0.14440309230121784,
+                        0.019989632710348815
+                    ],
+                    "orientation": {
+                        "w": 0.5475585594397069,
+                        "xyz": [
+                            -0.6170003427946109,
+                            -0.40996968786731647,
+                            -0.38912087582860416
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle grip",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and use the spatula",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to manipulate and flip food",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "grasp the handle end to reposition or hang the utensil",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a secure grip",
+                "insulate the hand from the metal shaft",
+                "enable tool control",
+                "allow hanging storage"
+            ],
+            "semantic_description": "Black or dark gray handle grip made of plastic or rubber with a matte smooth slightly cushioned appearance, elongated and rounded, located at the rear, with a hanging hole at the end.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_34": {
+                    "confidence": 0.9578887224197388,
+                    "position": [
+                        0.16550507582724094,
+                        -0.10214898709091358,
+                        -0.010206733189988881
+                    ],
+                    "orientation": {
+                        "w": 0.5532387055881169,
+                        "xyz": [
+                            -0.45249555497625704,
+                            0.45589086012932123,
+                            0.5304132643670042
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle collar",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join the grip to the metal neck",
+                "reinforce the handle transition",
+                "finish the handle assembly"
+            ],
+            "semantic_description": "Small metallic collar or ferrule at the junction between the dark handle grip and the silver metal neck, appearing as a short narrow transition ring near the front of the handle.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/2d8530c2a2b15b6080e76bc2ddde8728/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d5d96ed62f7c824d85cab301085951611fbe4b7b8185dc8270d8584064fed0e
+size 3779696