Add asset kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1

.gitattributes

@@ -7486,3 +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/e21c79e7f3145a248ac028d6767daea1/affordance/affordance_annot.json

@@ -0,0 +1,139 @@
+{
+    "affordances": [
+        {
+            "part_name": "utensil holder body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer cup body to pick up and relocate the utensil holder",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the sidewall to stabilize the holder while inserting or removing utensils",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "contain utensils",
+                "support stored tools upright",
+                "provide main grasp surface",
+                "stabilize contents",
+                "support on a countertop"
+            ],
+            "semantic_description": "Large white cylindrical cup body made of ceramic or smooth plastic, with a matte to satin hard smooth surface, slightly tapered walls, and a plain unmarked exterior forming the main container.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.9165797829627991,
+                    "position": [
+                        0.1100090523250401,
+                        0.009817834594286978,
+                        0.08835885673761368
+                    ],
+                    "orientation": {
+                        "w": 0.04122978807193074,
+                        "xyz": [
+                            0.9650328176775737,
+                            0.031333553083201626,
+                            -0.25696298144287
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.914044201374054,
+                    "position": [
+                        0.028436143416911364,
+                        0.07718762441072613,
+                        0.10205680876970291
+                    ],
+                    "orientation": {
+                        "w": 0.06165771012677775,
+                        "xyz": [
+                            0.6652001178148094,
+                            0.7324694150419704,
+                            -0.13113232274751904
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "stored utensils",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a protruding utensil handle to remove one tool from the holder",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch a protruding utensil to rearrange or organize the stored utensils",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide cooking-tool handles",
+                "enable utensil retrieval",
+                "store and organize tools",
+                "indicate holder contents"
+            ],
+            "semantic_description": "Several medium slender utensils protrude from the cup, including light brown wooden spoon-like tools and a dark forked utensil, with hard mostly smooth surfaces and elongated handle-dominant shapes clustered at the top opening.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_11": {
+                    "confidence": 0.9514332413673401,
+                    "position": [
+                        -0.03134831367060542,
+                        0.08186251355800778,
+                        0.11618273705244064
+                    ],
+                    "orientation": {
+                        "w": 0.2820768155629631,
+                        "xyz": [
+                            0.9086579606982098,
+                            -0.29879704140004043,
+                            0.07411955634116502
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9469476938247681,
+                    "position": [
+                        -0.0493106204085052,
+                        0.06604320241604,
+                        0.13056551665067673
+                    ],
+                    "orientation": {
+                        "w": 0.09626141533497669,
+                        "xyz": [
+                            0.2354029190611698,
+                            0.9510533808728805,
+                            -0.17554678107402066
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9444596767425537,
+                    "position": [
+                        -0.03983050165697932,
+                        0.11403707845602185,
+                        0.0637739896774292
+                    ],
+                    "orientation": {
+                        "w": 0.19808091295966196,
+                        "xyz": [
+                            0.2500955426237698,
+                            0.7747507609165605,
+                            -0.5458730895913436
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf047f00a39990c75bbf5caf0610eced49ede2acc042c6b739fc3c688901642b
+size 912736