Add asset kitchen_supplies/utensils/e43887a22e52507299eb1367c0960421

.gitattributes

@@ -7486,4 +7486,4 @@ dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/affordance/me
 dataset/kitchen_supplies/utensils/d4f361d29dae5f93a9bd3ee50471bb0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/dddf879d9f3b5d88935528a479ab6db7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/e11c9198c2c95bb4955bcf8b2886ebc9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/e43887a22e52507299eb1367c0960421/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/e43887a22e52507299eb1367c0960421/affordance/affordance_annot.json

@@ -0,0 +1,89 @@
+{
+    "affordances": [
+        {
+            "part_name": "cutting surface",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch an exposed corner or edge of the top face to pick up the cutting board from a table",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the board by opposite side edges while repositioning it",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide a surface for chopping",
+                "support food preparation",
+                "present a flat work area",
+                "protect countertops from knife contact"
+            ],
+            "semantic_description": "Large flat rectangular top panel in light honey-colored wood with a smooth semi-gloss finish, fine wood-grain striping, rounded corners, and a broad hard surface covering the upper face.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside of cutting board",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the board from below along the side edges to lift or carry it",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the underside and opposite edge to flip or reorient the board",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "support the board on a counter",
+                "provide an alternate working face",
+                "stabilize the structure",
+                "contact supporting surfaces"
+            ],
+            "semantic_description": "Broad flat bottom face of the board in pale tan wood with a smooth hard finish, subtle wood-grain pattern, rounded perimeter, and slightly beveled edges forming the underside.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.05939126014709473,
+                    "position": [
+                        0.12231345707550645,
+                        0.05709931021556258,
+                        -0.08737628941889852
+                    ],
+                    "orientation": {
+                        "w": 0.9281110452471729,
+                        "xyz": [
+                            0.29405849578587495,
+                            -0.2076390526383194,
+                            -0.09500269767649043
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.11727533489465714,
+                    "position": [
+                        0.013109481427818537,
+                        0.09891155874356627,
+                        -0.08073665236588567
+                    ],
+                    "orientation": {
+                        "w": 0.9275032631253274,
+                        "xyz": [
+                            0.3535108777136359,
+                            -0.09072158049357126,
+                            0.08085388712209876
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/e43887a22e52507299eb1367c0960421/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c9f82c005aec2f4e3dc999c5ebcd1f65144489cbbcc07909c3f5f6884a18631
+size 2165588