Add asset kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c

.gitattributes

@@ -7478,4 +7478,4 @@ dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/affordance/me
 dataset/kitchen_supplies/utensils/bb4414448fed543fb261d472499b7abd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/c22b15d98e495d85b4f05e1e24552405/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/affordance/affordance_annot.json

@@ -0,0 +1,97 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray body from the side walls to pick up the tray when handles are inaccessible",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "support the tray body from below with a gripper or paired grippers during transport",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "stabilize the tray by clamping an outer wall during placement",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "hold and contain items",
+                "provide a flat carrying surface",
+                "support placed objects",
+                "form the tray interior"
+            ],
+            "semantic_description": "Large rectangular brown wooden tray body with a semi-gloss smooth hard surface, raised side walls, rounded corners, visible floral center motif, and subtle wood-grain decoration across the interior.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.023627106100320816,
+                    "position": [
+                        -0.039209253154695034,
+                        -0.07095855521038175,
+                        -0.1156001309864223
+                    ],
+                    "orientation": {
+                        "w": 0.9752073183390937,
+                        "xyz": [
+                            -0.015797497337370056,
+                            -0.14574040852182013,
+                            0.16577351615877314
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.2693014144897461,
+                    "position": [
+                        0.07024999428540468,
+                        0.2238384704105556,
+                        -0.011128111276775599
+                    ],
+                    "orientation": {
+                        "w": 0.5163589348914627,
+                        "xyz": [
+                            0.41474326433024444,
+                            -0.5197997379825812,
+                            0.5396014338784573
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "tray rim with handles",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one cutout handle area to lift and carry the tray",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "use two grippers on opposite handle regions for stable transport",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the outer rim to pull or reposition the tray on a surface",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "provide handholds",
+                "support lifting and carrying",
+                "form raised retaining rim",
+                "help reposition the tray"
+            ],
+            "semantic_description": "Thick brown wooden perimeter rim with integrated oval cutout handles, a smooth slightly glossy hard finish, rounded edges, and decorative carved-looking border details around the tray top.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a599668585db301ec30f5886828600016c14c58f7c59651a3dfc50d812d9dff
+size 780468