Add asset kitchen_supplies/utensils/ae0ae73ac64957eca8741a62233e2259

.gitattributes

@@ -7469,4 +7469,4 @@ dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/affordance/me
 dataset/kitchen_supplies/utensils/a57d95d6fad95083a0d8d04467ae4640/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/a9305e466662566c9455d51151c40a01/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/abe0590f88e0560eb9331ff0c1bf6d54/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/ae0ae73ac64957eca8741a62233e2259/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/ae0ae73ac64957eca8741a62233e2259/affordance/affordance_annot.json

@@ -0,0 +1,172 @@
+{
+    "affordances": [
+        {
+            "part_name": "spatula body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and use the spatula",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp the handle near the neck to reposition or stabilize the utensil",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "overall utensil body",
+                "food flipping and turning",
+                "scraping under food",
+                "food transfer",
+                "structural support"
+            ],
+            "semantic_description": "One-piece white or light gray spatula with a smooth matte-looking surface, consisting of a broad rectangular blade with rounded corners, a narrow neck, and a long gently curved handle.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9819068312644958,
+                    "position": [
+                        0.07187062874436378,
+                        -0.021651114118867554,
+                        0.09132779319770634
+                    ],
+                    "orientation": {
+                        "w": 0.12387590362441622,
+                        "xyz": [
+                            -0.6929571465545358,
+                            0.7059574825790152,
+                            0.07803323862899529
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.977134644985199,
+                    "position": [
+                        0.06590894237160683,
+                        0.09472128491324838,
+                        0.03286193055100739
+                    ],
+                    "orientation": {
+                        "w": 0.37643352939864344,
+                        "xyz": [
+                            0.5465870136242571,
+                            0.6200627463376776,
+                            -0.41840485786612647
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.974339485168457,
+                    "position": [
+                        0.12115450575947762,
+                        -0.10005953420477454,
+                        -0.004167311592027545
+                    ],
+                    "orientation": {
+                        "w": 0.44107733791013987,
+                        "xyz": [
+                            -0.517515470659338,
+                            0.49511417706774263,
+                            0.5408238819402117
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9738238453865051,
+                    "position": [
+                        0.09495598450303078,
+                        -0.029862670940929092,
+                        0.09181602974422276
+                    ],
+                    "orientation": {
+                        "w": 0.16003221916911517,
+                        "xyz": [
+                            -0.6895991900455827,
+                            -0.7050031146066701,
+                            -0.042582323928809444
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9738207459449768,
+                    "position": [
+                        0.13433146849274635,
+                        0.09488281350058969,
+                        0.01421131961978972
+                    ],
+                    "orientation": {
+                        "w": 0.3771430659919741,
+                        "xyz": [
+                            0.5270646617262634,
+                            0.5724189744396281,
+                            -0.5022971907496964
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9731955528259277,
+                    "position": [
+                        0.09719132259488106,
+                        -0.10112534720974509,
+                        -0.01659224438481033
+                    ],
+                    "orientation": {
+                        "w": 0.4907430429821502,
+                        "xyz": [
+                            -0.4283373006133011,
+                            0.5140552390925727,
+                            0.5580731437987393
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9729370474815369,
+                    "position": [
+                        0.07141048833727837,
+                        0.09747566770238336,
+                        0.02363610756583512
+                    ],
+                    "orientation": {
+                        "w": 0.44549293059344713,
+                        "xyz": [
+                            0.6053340574815055,
+                            -0.5212901588520111,
+                            0.40418225830469606
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "hanging hole",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enable hanging storage",
+                "provide attachment point at handle end"
+            ],
+            "semantic_description": "Small circular hole at the tip of the handle, visible as a dark opening with a smooth rim on the narrow end of the spatula.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed logo/text marking",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brand marking",
+                "provide product identification"
+            ],
+            "semantic_description": "Small dark printed logo/text area on the blade face, located around the central lower portion of the spatula head, flat against the white surface.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/ae0ae73ac64957eca8741a62233e2259/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b09caaea7a27393933a9daf4fe7fef7ac63e9e70162b31b2218843e340a4681e
+size 3782356