Add asset kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c

.gitattributes

@@ -7459,3 +7459,4 @@ dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/affordance/me
 dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/affordance/affordance_annot.json

@@ -0,0 +1,145 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle body to hold and turn the bottle opener while extracting a cork",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pick up and reposition the opener by the main handle",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "stabilize the tool by clamping the handle body while aligning the screw with the cork",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "transmit turning torque",
+                "support the screw shaft",
+                "provide structural body"
+            ],
+            "semantic_description": "T-shaped light tan metal handle with a hard smooth slightly matte surface, engraved dark floral patterns, and a medium-sized cylindrical form forming the main body of the opener.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_14": {
+                    "confidence": 0.9487412571907043,
+                    "position": [
+                        0.04236012417823076,
+                        -0.11047690268605947,
+                        0.008513069711625576
+                    ],
+                    "orientation": {
+                        "w": 0.5478299042480973,
+                        "xyz": [
+                            -0.2916229908439068,
+                            -0.6789738622453957,
+                            -0.39221540205650407
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9464519619941711,
+                    "position": [
+                        -0.07179147657006979,
+                        -0.09711766894906759,
+                        -0.008037537336349487
+                    ],
+                    "orientation": {
+                        "w": 0.6898257038134102,
+                        "xyz": [
+                            -0.32317545723886365,
+                            0.5932299531108122,
+                            0.26033890398656967
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9451290369033813,
+                    "position": [
+                        -0.009062166325747967,
+                        -0.12270780559629202,
+                        -0.0021214308217167854
+                    ],
+                    "orientation": {
+                        "w": 0.4509622421691602,
+                        "xyz": [
+                            -0.4273265969093385,
+                            -0.5501524886921735,
+                            -0.5579939738899117
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "worm screw",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "pierce cork",
+                "thread into cork",
+                "anchor the opener to the cork",
+                "enable cork extraction"
+            ],
+            "semantic_description": "Slim gold-toned metal spiral screw with a hard smooth reflective surface, projecting downward or sideways from the handle as the narrow working tip of the opener.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leather loop strap",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the loop strap to pick up the opener from a hanging position",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "hold the strap to reorient or retrieve the opener from a hook",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "temporarily suspend or steady the tool with a light grip on the loop",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "hang for storage",
+                "provide a carrying loop",
+                "aid retrieval from a hook",
+                "indicate handle end"
+            ],
+            "semantic_description": "Brown leather loop strap with a soft slightly pebbled surface and stitched edges, attached by a small ring at one end of the opener and sized for hanging rather than primary gripping.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.66777503490448,
+                    "position": [
+                        0.12814285699278116,
+                        0.056627255864441395,
+                        0.05133878905326128
+                    ],
+                    "orientation": {
+                        "w": 0.4990817823316943,
+                        "xyz": [
+                            0.5527861198306839,
+                            -0.6109201312610645,
+                            -0.2685544143876987
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97c245b99a4b4d8bb9c74cb95df72085b800f2806b193cb0575befc906aac914
+size 3774736