Add asset kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc

.gitattributes

@@ -7464,3 +7464,4 @@ dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/affordance/me
 dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/affordance/affordance_annot.json

@@ -0,0 +1,229 @@
+{
+    "affordances": [
+        {
+            "part_name": "jar body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side body to pick up and move the spice jar",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to stabilize the jar while twisting the lid",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the body to pour or shake out contents",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "contain spices",
+                "provide main grasp surface",
+                "support lifting and carrying",
+                "stabilize during lid removal",
+                "support pouring or shaking"
+            ],
+            "semantic_description": "The main jar body is a medium-sized tapered cylindrical section with clear glossy glass walls, a smooth hard surface, and a white wraparound label with black printed text on one side.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid sidewall",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid rim to twist it open or closed",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "pinch the lid sidewall to stabilize the top during manipulation",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "cover the jar opening",
+                "enable twisting to open",
+                "seal contents",
+                "provide grip for lid manipulation"
+            ],
+            "semantic_description": "The lid sidewall is a short circular top ring in silvery white plastic or metal with a glossy smooth hard finish, positioned around the jar mouth and slightly wider than the neck.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.5195246934890747,
+                    "position": [
+                        -0.042148010863456875,
+                        0.019891867297701538,
+                        0.1593295820057392
+                    ],
+                    "orientation": {
+                        "w": 0.07179309539621596,
+                        "xyz": [
+                            0.9879459949639681,
+                            -0.1319656885651224,
+                            0.03732987449239326
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.4458376169204712,
+                    "position": [
+                        -0.03435646562138572,
+                        0.031029110657982528,
+                        0.16145916655659676
+                    ],
+                    "orientation": {
+                        "w": 0.13594525302292557,
+                        "xyz": [
+                            0.9904081937311563,
+                            0.024661163207782305,
+                            -0.0015247950551006432
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lid top",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the top opening",
+                "protect contents from contamination",
+                "provide top surface for pressing or alignment"
+            ],
+            "semantic_description": "The lid top is a flat round cap surface in white with a smooth slightly glossy hard finish, centered on the top and bordered by the raised lid rim.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base of spice jar",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom edge to reorient the jar from a tilted or upside-down pose",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the base while placing or retrieving the jar in tight storage",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "support upright standing",
+                "provide stable bottom contact",
+                "protect the lower edge",
+                "indicate resting surface"
+            ],
+            "semantic_description": "The base is a circular bottom section of clear glossy glass with concentric molded rings, a hard smooth surface, and a slightly thicker-looking rim at the lower end of the jar.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_43": {
+                    "confidence": 0.7309964299201965,
+                    "position": [
+                        0.09661241801222786,
+                        0.043873311835341156,
+                        -0.1553015522658825
+                    ],
+                    "orientation": {
+                        "w": 0.7848226558036572,
+                        "xyz": [
+                            -0.19006915001921218,
+                            -0.33381345608826396,
+                            0.4863082290920823
+                        ]
+                    }
+                },
+                "grasp_45": {
+                    "confidence": 0.7173805236816406,
+                    "position": [
+                        0.05076800467213616,
+                        -0.023103561368770897,
+                        -0.18066450580954552
+                    ],
+                    "orientation": {
+                        "w": 0.9917222797526237,
+                        "xyz": [
+                            -0.03163100455176583,
+                            -0.01619916235315444,
+                            -0.12338551994606815
+                        ]
+                    }
+                },
+                "grasp_46": {
+                    "confidence": 0.7146173119544983,
+                    "position": [
+                        0.04571804212173447,
+                        0.020160496118478477,
+                        -0.18044928833842278
+                    ],
+                    "orientation": {
+                        "w": 0.2219902697078076,
+                        "xyz": [
+                            0.0072753905125625545,
+                            -0.014486687113634544,
+                            -0.9749141114705525
+                        ]
+                    }
+                },
+                "grasp_50": {
+                    "confidence": 0.6684156060218811,
+                    "position": [
+                        -0.01966374000767246,
+                        0.05526773433666676,
+                        -0.18038181588053703
+                    ],
+                    "orientation": {
+                        "w": 0.47829083646542964,
+                        "xyz": [
+                            0.02280821580717943,
+                            -0.03548290242228036,
+                            0.8771879072813217
+                        ]
+                    }
+                },
+                "grasp_51": {
+                    "confidence": 0.652560830116272,
+                    "position": [
+                        -0.013694667315576226,
+                        0.05082043062429875,
+                        -0.18098042532801628
+                    ],
+                    "orientation": {
+                        "w": 0.8080373458450305,
+                        "xyz": [
+                            0.019318048014196378,
+                            0.01024346365847173,
+                            -0.5887253452951697
+                        ]
+                    }
+                },
+                "grasp_54": {
+                    "confidence": 0.6406843662261963,
+                    "position": [
+                        -0.03147799341240898,
+                        0.05285237904172391,
+                        -0.17960023507475853
+                    ],
+                    "orientation": {
+                        "w": 0.5193531745326433,
+                        "xyz": [
+                            0.028518354918224954,
+                            -0.0163777603190306,
+                            0.8539266669349053
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27681f40d2f8e56bbe638c2e1bd076dfa9d88779791350f1dd48859d03efcdee
+size 3782468