Add asset kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4

.gitattributes

@@ -8642,3 +8642,4 @@ dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/affordance/me
 dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/2660f4c5b2b05850bc8cb134fa6e06db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/affordance/affordance_annot.json

@@ -0,0 +1,98 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid knob or top to remove the lid from the jar",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the lid to place and align it onto the jar opening",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "lightly grasp the lid to stabilize it while opening the spice jar",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "cover the jar opening",
+                "retain contents",
+                "allow lid removal",
+                "provide top handling surface"
+            ],
+            "semantic_description": "Rounded white ceramic lid with a small central knob, glossy smooth hard surface, slightly domed shape, and medium size sitting on top of the jar body.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.5677054524421692,
+                    "position": [
+                        0.0139970536401961,
+                        0.032433317392133176,
+                        0.13489534007385373
+                    ],
+                    "orientation": {
+                        "w": 0.031168376173175617,
+                        "xyz": [
+                            -0.294111627678264,
+                            -0.9317964296372799,
+                            0.2104335916777234
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.5002428889274597,
+                    "position": [
+                        0.031051915051648393,
+                        0.0037125496892258525,
+                        0.1381452684290707
+                    ],
+                    "orientation": {
+                        "w": 0.13302846721880013,
+                        "xyz": [
+                            -0.5193563723630028,
+                            -0.8320973640009255,
+                            0.1420787183855143
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "jar body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the jar body around its widest middle to lift and move the spice jar",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the jar body to stabilize it while removing or replacing the lid",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the jar body from the sides to reposition it on a shelf or table",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "contain spices",
+                "support the lid",
+                "provide main grasp surface",
+                "rest on a surface",
+                "protect contents"
+            ],
+            "semantic_description": "Bulbous white ceramic jar body with a glossy smooth hard surface, rounded near-spherical shape, broad medium-sized form, and a small printed mark visible on one side near the lower front.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d45865f298f7df5c7bfd1e5bc6c1ed5abd0c5d8aa1430248da398f4bbb5eb1d
+size 3778808