Add asset kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813

.gitattributes

@@ -8654,3 +8654,4 @@ dataset/kitchen_supplies/utensils/339dda4e77fa56c7b3f406ea7ac37566/affordance/me
 dataset/kitchen_supplies/utensils/39fd8b64d75a54b2a24e2f37a9d1d1b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/3d22a7e38f1851f2a224649bc3a5acd6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/3d7fabe1126459ce9e02b22507e49d98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/affordance/affordance_annot.json

@@ -0,0 +1,177 @@
+{
+    "affordances": [
+        {
+            "part_name": "plate wall and outer rim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer rim from the side to pick up the plate",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch the side wall to move or reorient the plate",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the rim to stabilize the plate during placement",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain food within the plate",
+                "provide side structure",
+                "offer an edge for lifting",
+                "help prevent spills"
+            ],
+            "semantic_description": "Large round blue plastic outer body with a semi-gloss smooth hard surface, shallow bowl-like shape, and slightly raised side tabs around the perimeter.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.9895834922790527,
+                    "position": [
+                        0.025506807898636907,
+                        0.15105279092676938,
+                        0.0591968652443029
+                    ],
+                    "orientation": {
+                        "w": 0.3353582134394125,
+                        "xyz": [
+                            0.6764000330860139,
+                            0.5569619199322874,
+                            -0.3461376657708681
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9879613518714905,
+                    "position": [
+                        -0.13515488390112296,
+                        0.07106463168747723,
+                        0.05405447824159637
+                    ],
+                    "orientation": {
+                        "w": 0.166722157542635,
+                        "xyz": [
+                            0.8533471599461102,
+                            -0.20300409368464167,
+                            0.450323977535634
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9864035844802856,
+                    "position": [
+                        0.07803176011657342,
+                        0.12516165082342923,
+                        0.06940549804130569
+                    ],
+                    "orientation": {
+                        "w": 0.19871373869063028,
+                        "xyz": [
+                            0.7861195135927833,
+                            0.4501676801863368,
+                            -0.3740027006852893
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9862603545188904,
+                    "position": [
+                        -0.1276327032246627,
+                        0.07413351093418896,
+                        0.06253600685158744
+                    ],
+                    "orientation": {
+                        "w": 0.44156090500656,
+                        "xyz": [
+                            0.2567105473421976,
+                            0.8562049633449035,
+                            -0.07769634995680097
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9859193563461304,
+                    "position": [
+                        0.023015713726636022,
+                        0.15100290183909237,
+                        0.060576679243240505
+                    ],
+                    "orientation": {
+                        "w": 0.3631970029468423,
+                        "xyz": [
+                            0.5642226503929464,
+                            -0.6897708124857999,
+                            0.27195029707038343
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9857267737388611,
+                    "position": [
+                        0.02746890898561105,
+                        0.13909817044623196,
+                        0.07593712402740493
+                    ],
+                    "orientation": {
+                        "w": 0.29750619251495186,
+                        "xyz": [
+                            0.7687853325931332,
+                            0.5119354889390362,
+                            -0.2416220870898841
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner food-contact surface",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support food",
+                "provide serving surface",
+                "present contents",
+                "define the main eating area"
+            ],
+            "semantic_description": "Broad circular blue plastic interior surface with a smooth hard semi-gloss finish, slightly recessed at the center and occupying most of the plate's top area.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner lip",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain food",
+                "separate center from outer wall",
+                "guide liquids inward",
+                "stiffen the rim transition"
+            ],
+            "semantic_description": "Thin circular raised lip of the same blue plastic, with a smooth hard semi-gloss finish forming a narrow ring around the inner eating surface near the top edge.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base foot",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the plate on a table",
+                "stabilize placement",
+                "elevate the underside slightly"
+            ],
+            "semantic_description": "Circular underside foot ring area in blue plastic with a smooth hard finish, centered on the bottom and slightly recessed relative to the surrounding underside.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b73adc77e55bc18165dc922f5646da44c82fe9a339f35b05e39d18a16649f7ca
+size 1099632