Add asset kitchen_supplies/utensils/c22b15d98e495d85b4f05e1e24552405

.gitattributes

@@ -7477,3 +7477,4 @@ dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/affordance/me
 dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/bb4414448fed543fb261d472499b7abd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/c22b15d98e495d85b4f05e1e24552405/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/c22b15d98e495d85b4f05e1e24552405/affordance/affordance_annot.json

@@ -0,0 +1,185 @@
+{
+    "affordances": [
+        {
+            "part_name": "spatula head",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "slide under food",
+                "flip food",
+                "support food while lifting",
+                "drain oil through slots"
+            ],
+            "semantic_description": "Broad silver metal head with a reflective smooth hard surface, slightly curved and slotted, forming the flat working end of the spatula.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle grip",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle grip to pick up and manipulate the spatula",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle grip to flip or turn food during cooking",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the handle grip to hang or reposition the utensil",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide main handhold",
+                "insulate from the metal shaft",
+                "improve grip comfort",
+                "control utensil orientation"
+            ],
+            "semantic_description": "Long dark gray to black handle grip, likely rubber or plastic, with a matte smooth slightly cushioned texture and a cylindrical form at the rear of the spatula.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.974677562713623,
+                    "position": [
+                        0.016394279678934254,
+                        -0.07609188719652593,
+                        -0.0968746398575604
+                    ],
+                    "orientation": {
+                        "w": 0.04160890459847451,
+                        "xyz": [
+                            0.06379151625926435,
+                            0.20862940630279125,
+                            -0.975024672681263
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9702702164649963,
+                    "position": [
+                        -0.008122572893626057,
+                        -0.1385430709924549,
+                        -0.10816867696121335
+                    ],
+                    "orientation": {
+                        "w": 0.9970171289929958,
+                        "xyz": [
+                            0.047269208436308136,
+                            0.0545866365328761,
+                            -0.027253725257219773
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9694309234619141,
+                    "position": [
+                        -0.08396319321764167,
+                        -0.09047389193437994,
+                        0.03343896521255374
+                    ],
+                    "orientation": {
+                        "w": 0.16743126835376287,
+                        "xyz": [
+                            0.8252770672774586,
+                            -0.11571372710418737,
+                            0.5267778146078522
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9686325788497925,
+                    "position": [
+                        -0.09098670653474983,
+                        -0.0864277423825115,
+                        -0.028504034969955683
+                    ],
+                    "orientation": {
+                        "w": 0.7723202284410718,
+                        "xyz": [
+                            0.13844490219204786,
+                            0.6099094811113747,
+                            -0.11119756583765263
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.9674860239028931,
+                    "position": [
+                        -0.027602065572864376,
+                        -0.1293734477367252,
+                        -0.10593069391325116
+                    ],
+                    "orientation": {
+                        "w": 0.9902373803284975,
+                        "xyz": [
+                            -0.011348132021332757,
+                            0.1388321061404234,
+                            0.005176562990559114
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9664909839630127,
+                    "position": [
+                        -0.08915042899025138,
+                        -0.09980262978933752,
+                        -0.01914504962041974
+                    ],
+                    "orientation": {
+                        "w": 0.7417024910129074,
+                        "xyz": [
+                            0.16141948637705603,
+                            0.6333854102890879,
+                            -0.1504795211181215
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "hanging loop",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the end loop to pull the spatula from a hook or drawer",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "delicately grasp the tip to reorient the spatula",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "hang for storage",
+                "indicate handle end",
+                "provide a small pull point"
+            ],
+            "semantic_description": "Small silver and dark end cap with an oval hole, hard and smooth, located at the tip of the handle for hanging storage.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "collar",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect handle grip to shaft",
+                "reinforce joint",
+                "transition between materials"
+            ],
+            "semantic_description": "Small light silver connector ring with a smooth hard finish, positioned between the dark grip and the metal shaft as a narrow transition piece.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/c22b15d98e495d85b4f05e1e24552405/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d278e04412361618adee231ff0844ed0857152aee84e062ed7d1718b9a6581e
+size 3805996