Add asset kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f

.gitattributes

@@ -7462,3 +7462,4 @@ dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/affordance/me
 dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/affordance/affordance_annot.json

@@ -0,0 +1,104 @@
+{
+    "affordances": [
+        {
+            "part_name": "rim of plate",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim from the side to pick up the plate",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the rim to stabilize and reposition the plate on a surface",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide edge grip",
+                "retain food on the plate",
+                "define the outer boundary",
+                "support handling"
+            ],
+            "semantic_description": "Broad circular white ceramic rim with a glossy smooth hard surface, slightly raised around the outer edge and surrounding the central eating area.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top surface of plate",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold food",
+                "provide serving surface",
+                "support utensils",
+                "present food"
+            ],
+            "semantic_description": "Shallow oval white ceramic top surface with a glossy smooth hard finish, forming the main central eating area slightly recessed inside the rim.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside base of plate",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the underside edge and base to lift an inverted or tilted plate",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "pinch the underside while stacking or unstacking plates",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support the plate on a table",
+                "provide contact surface underneath",
+                "stabilize placement",
+                "enable stacking alignment"
+            ],
+            "semantic_description": "Oval white ceramic underside base with a glossy smooth hard finish, slightly recessed within the outer edge and located on the bottom of the plate.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.023488137871026993,
+                    "position": [
+                        -0.02900813356973231,
+                        0.01569589087739587,
+                        -0.1070937030017376
+                    ],
+                    "orientation": {
+                        "w": 0.983683714220195,
+                        "xyz": [
+                            -0.006284326452262713,
+                            -0.10563462784773214,
+                            -0.14549289679731583
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.03066970966756344,
+                    "position": [
+                        0.06238361611030996,
+                        -0.04772755270823836,
+                        -0.10674190893769264
+                    ],
+                    "orientation": {
+                        "w": 0.47274328408465444,
+                        "xyz": [
+                            0.017503426901930578,
+                            -0.18495837266455728,
+                            0.86139295201483
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9708e261271b61f55c9066539fa6235ca58d0096d853897e8149cc7e7ab78129
+size 831024