Add asset kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6

.gitattributes

@@ -7490,4 +7490,4 @@ dataset/kitchen_supplies/utensils/e43887a22e52507299eb1367c0960421/affordance/me
 dataset/kitchen_supplies/utensils/e8c2e3c2d08e5b79b2400d4545686d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/ec38d04d02985d99ab9c64156be62936/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/f1e1397147cb582a8d9d8fea8a2a5c2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/affordance/affordance_annot.json

@@ -0,0 +1,212 @@
+{
+    "affordances": [
+        {
+            "part_name": "grind knob",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top knob to rotate and adjust the grinder setting",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "grasp the knob to steady the top during manipulation",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "adjust grind setting",
+                "provide a small turning grip",
+                "secure the top mechanism",
+                "indicate top center"
+            ],
+            "semantic_description": "Small round silver-gray metal knob with a reflective smooth finish and hard texture, centered on the very top as the smallest protruding part.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.5448311567306519,
+                    "position": [
+                        0.005060157272964716,
+                        -0.09622706567824935,
+                        0.13551698019728065
+                    ],
+                    "orientation": {
+                        "w": 0.5749535315018413,
+                        "xyz": [
+                            -0.8162131225944521,
+                            -0.056731864808105215,
+                            0.0024638655746454245
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.4727644622325897,
+                    "position": [
+                        -0.08804511278867722,
+                        0.05590510645924951,
+                        0.12395950546488166
+                    ],
+                    "orientation": {
+                        "w": 0.5474788968238962,
+                        "xyz": [
+                            0.656039098448985,
+                            0.4197066534735122,
+                            0.30614683383761737
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.454670250415802,
+                    "position": [
+                        0.02205842360854149,
+                        -0.05992077758492087,
+                        0.17375188460573554
+                    ],
+                    "orientation": {
+                        "w": 0.33671573607153676,
+                        "xyz": [
+                            -0.9116742217374918,
+                            -0.2259771295587063,
+                            0.06638496379112423
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.4502306878566742,
+                    "position": [
+                        -0.08289588242769241,
+                        -0.054406144674430834,
+                        0.13277093460783362
+                    ],
+                    "orientation": {
+                        "w": 0.2942205624005734,
+                        "xyz": [
+                            0.3601519623598002,
+                            0.7353471541100812,
+                            0.4929395374802871
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.4398961365222931,
+                    "position": [
+                        0.03678788244724274,
+                        -0.07170769667209242,
+                        0.16504740109667182
+                    ],
+                    "orientation": {
+                        "w": 0.3893233209957544,
+                        "xyz": [
+                            -0.8822051036088079,
+                            -0.24856577837215543,
+                            0.09141422601353655
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.36690932512283325,
+                    "position": [
+                        -0.06665430217981339,
+                        -0.052231398429285036,
+                        0.14929346134886146
+                    ],
+                    "orientation": {
+                        "w": 0.45038478316750113,
+                        "xyz": [
+                            -0.7453306856750181,
+                            0.4351551562758874,
+                            -0.2286388113354307
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.3647662401199341,
+                    "position": [
+                        -0.011586789973080158,
+                        0.02699129561005975,
+                        0.19178515067324042
+                    ],
+                    "orientation": {
+                        "w": 0.16307809158571476,
+                        "xyz": [
+                            0.9396643388587965,
+                            0.29955195356165615,
+                            0.026553595598664468
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top cap",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top cap to twist the grinder while the body is held",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the cap to lift or reposition the grinder",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "provide a twisting surface",
+                "cover the grinding mechanism",
+                "form the top enclosure",
+                "support adjustment hardware"
+            ],
+            "semantic_description": "Wide circular silver-gray metal cap with a glossy reflective finish and smooth hard surface, forming the broad top of the grinder beneath the small knob.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and hold the grinder",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body while twisting the top cap to grind pepper",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the body to stabilize the grinder during placement",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain peppercorns",
+                "support twisting during grinding",
+                "provide structural body"
+            ],
+            "semantic_description": "Transparent clear body, likely glass or clear plastic, with a smooth hard glossy surface and hourglass shape, making up most of the grinder and showing brown peppercorns inside near the lower half.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support upright standing",
+                "form the bottom enclosure",
+                "contact the table surface",
+                "stabilize placement"
+            ],
+            "semantic_description": "Flat circular silver-gray bottom piece with a smooth slightly reflective hard surface, located at the base as the table-contacting support area.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03a8f9d9489385b9a36dfc2b911dba526846d0c0f3830125736a21b3f253339d
+size 672104