Add asset kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48

.gitattributes

@@ -8664,3 +8664,4 @@ dataset/kitchen_supplies/utensils/4696ff2995935c79a6e36dc6f1cb7aca/affordance/me
 dataset/kitchen_supplies/utensils/479f8139ddd6500c8c36ce7a4607ca33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/4b7a0c12c19b59a9916c31cec19d7f20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/affordance/affordance_annot.json

@@ -0,0 +1,233 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid knob",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top knob to lift or remove the lid",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "pinch the knob to steady the lid during opening or placement",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide a lifting grip for the lid",
+                "help remove or place the cover"
+            ],
+            "semantic_description": "Small round clear transparent knob with a glossy smooth hard surface, centered on the lid and raised for fingertip-sized gripping.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "knob stem",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the short stem below the knob when lifting the lid",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "hold the stem lightly while aligning the lid during placement",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "connect knob to lid",
+                "support the top grip structure"
+            ],
+            "semantic_description": "Short clear transparent cylindrical stem beneath the top knob, glossy and smooth, located at the lid center.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid rim to remove or place the lid",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the top cover while opening the container",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "cover the container opening",
+                "retain contents",
+                "provide top access when removed"
+            ],
+            "semantic_description": "Wide circular clear transparent lid with a glossy smooth hard surface, slightly domed and forming the container's top cover.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_41": {
+                    "confidence": 0.32090044021606445,
+                    "position": [
+                        -0.10315713242744096,
+                        0.052693268487928435,
+                        0.11000374145805836
+                    ],
+                    "orientation": {
+                        "w": 0.29901989938257706,
+                        "xyz": [
+                            -0.44435307644436456,
+                            0.6846489516267709,
+                            -0.49436146316640184
+                        ]
+                    }
+                },
+                "grasp_51": {
+                    "confidence": 0.2739081084728241,
+                    "position": [
+                        0.10502259476925246,
+                        0.02300563661265187,
+                        0.12172864563763142
+                    ],
+                    "orientation": {
+                        "w": 0.3301310940599224,
+                        "xyz": [
+                            -0.4890778900695438,
+                            -0.673050576171094,
+                            0.44589146672220653
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper rim band",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join lid area to body",
+                "reinforce the mouth region",
+                "define the upper shoulder edge"
+            ],
+            "semantic_description": "Narrow clear transparent band around the upper shoulder below the lid, glossy and smooth, encircling the mouth area.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "thin upper seam ring",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form a narrow transition line between lid and upper body",
+                "define the edge between adjoining parts"
+            ],
+            "semantic_description": "Very thin narrow ring visible just below the lid area, appearing as a slim clear seam line with a smooth glossy finish.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "jar body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the narrowed middle body to pick up and move the jar",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the body to stabilize the jar while opening or closing the lid",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the body for pouring or shaking contents",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "provide the main grasp surface",
+                "support pouring and shaking",
+                "display printed markings"
+            ],
+            "semantic_description": "Tall hourglass-shaped main body with a glossy smooth hard surface, predominantly opaque white or frosted-looking with black printed markings visible on one side.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower side band",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower band to help lift or reposition the jar",
+                    "confidence": 0.54
+                },
+                {
+                    "scenario": "hold the lower band as a secondary stabilizing grip",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "reinforce the base area",
+                "transition between body and bottom",
+                "provide a secondary holding edge"
+            ],
+            "semantic_description": "Clear glossy circular band around the lower perimeter, wrapping the base just above the bottom.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.3415042459964752,
+                    "position": [
+                        -0.020876602764474228,
+                        0.02181077768909745,
+                        -0.17767306230962276
+                    ],
+                    "orientation": {
+                        "w": 0.5876622591442852,
+                        "xyz": [
+                            -0.02574499683687239,
+                            -0.0053548567300780725,
+                            0.8086789163968015
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.31474587321281433,
+                    "position": [
+                        0.07825072153354995,
+                        0.07011688707279973,
+                        -0.13425671122968197
+                    ],
+                    "orientation": {
+                        "w": 0.8784676547610575,
+                        "xyz": [
+                            0.4340231238984814,
+                            -0.08580646200428166,
+                            -0.18043214386111645
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom base",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support upright standing",
+                "provide a stable contact surface",
+                "protect the container bottom"
+            ],
+            "semantic_description": "Flat round base at the very bottom, appearing opaque light gray or white from the underside with a smooth finish and providing stable support.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Knob mask color and material/opacity descriptions mismatch visible part; several clear parts are actually opaque white."
+    }
+}

dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:392d77a2c0b0921268bc451dc02584e9e0ac1a3a547a15a3acf3da1bbb18a457
+size 3787828