Add asset kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7

.gitattributes

@@ -7473,3 +7473,4 @@ dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/affordance/me
 dataset/kitchen_supplies/utensils/abe0db9c621052d2a26299d8cc3ef544/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b18e664c2fec5ee38ee8ec9aaea25603/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b1bd522f3e8a54c3b3e6bc37378ee2e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/affordance/affordance_annot.json

@@ -0,0 +1,195 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid to twist and open the shaker",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the lid from above to reposition the object",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "cover the container",
+                "enable opening and closing",
+                "help seal the contents",
+                "provide a top grip for twisting"
+            ],
+            "semantic_description": "Rounded silver metallic lid with a smooth reflective finish, forming the wider top cap of the shaker. The top surface is slightly domed with a small dark central spot or recess visible from above.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.4982464611530304,
+                    "position": [
+                        0.003039564238861203,
+                        -0.01479136427224148,
+                        0.17259848583489656
+                    ],
+                    "orientation": {
+                        "w": 0.1294887168676404,
+                        "xyz": [
+                            -0.9367789032916367,
+                            -0.3235945600088307,
+                            0.031056710778538995
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.4774872064590454,
+                    "position": [
+                        0.030887507018633187,
+                        -0.05274166115850676,
+                        0.1620647208765149
+                    ],
+                    "orientation": {
+                        "w": 0.09696501927352832,
+                        "xyz": [
+                            0.20443663729664632,
+                            -0.9381144969787685,
+                            -0.2621919848629923
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.4486183226108551,
+                    "position": [
+                        0.034456540015526116,
+                        -0.017533512276713736,
+                        0.1724763112142682
+                    ],
+                    "orientation": {
+                        "w": 0.05996295640723868,
+                        "xyz": [
+                            0.03874440032473282,
+                            -0.9933357201902231,
+                            -0.09048459701270532
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.4424985647201538,
+                    "position": [
+                        -0.028262948500923812,
+                        0.016079918059404008,
+                        0.1636708276346326
+                    ],
+                    "orientation": {
+                        "w": 0.15209843557308372,
+                        "xyz": [
+                            0.9128752895817933,
+                            0.3769902850569883,
+                            0.037457930266210804
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.44106146693229675,
+                    "position": [
+                        -0.024475427228026092,
+                        -0.009158678774838336,
+                        0.17923221457749605
+                    ],
+                    "orientation": {
+                        "w": 0.06129790553297694,
+                        "xyz": [
+                            -0.26158051828575607,
+                            0.9607182145913878,
+                            -0.06956084662337718
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.43735066056251526,
+                    "position": [
+                        0.03982462373096496,
+                        -0.027019645509426482,
+                        0.17268641758710146
+                    ],
+                    "orientation": {
+                        "w": 0.16717963030313981,
+                        "xyz": [
+                            -0.9567090724402648,
+                            -0.21429330567320432,
+                            0.10410139800139329
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "jar body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body to pick up and carry the shaker",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the body while the other gripper twists the lid",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp the body to tilt and dispense contents",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "contain the contents",
+                "main grasp surface",
+                "support pouring and shaking",
+                "connect the lid to the bottom"
+            ],
+            "semantic_description": "Curved silver metallic body with a smooth reflective finish and an hourglass-like profile, narrowing at the middle and widening toward top and bottom. Small black printed text is visible near the lower side.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower base to lift or reposition the shaker",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the base to stabilize the shaker during lid manipulation",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "support upright standing",
+                "stabilize the container",
+                "protect the bottom",
+                "provide a lower contact surface"
+            ],
+            "semantic_description": "Rounded silver metallic bottom section with a smooth reflective finish, slightly wider than the mid-body and forming the standing end of the object.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "neck ring",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark the seam between lid and body",
+                "form part of the closure interface",
+                "indicate the opening boundary"
+            ],
+            "semantic_description": "Thin narrow ring around the upper shoulder between the lid and body, visible as a slim band encircling the shaker near the top seam.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e384f50adb3d216df2a591fd76fffd2f78858cfe6ef367997adc5dae463a4ce
+size 3782948