Add asset kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8

.gitattributes

@@ -7658,4 +7658,5 @@ dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/affordance/mesh_p
 dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d74cc4527b5e5328af3cdeca950932d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d73ce17048865fabb1aad66b312b9e3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/affordance/affordance_annot.json

@@ -0,0 +1,174 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the mug",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to stabilize the mug while pouring",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hook or pinch the handle to reorient the mug on a surface",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the mug without touching the body",
+                "stabilize the mug while pouring",
+                "help reorient the mug"
+            ],
+            "semantic_description": "Curved white ceramic handle with a glossy smooth hard surface, medium thickness, attached to the mug side and sized for side gripping.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mug body from the sides to pick it up",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the body to stabilize the mug during placement",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "grasp the body when the handle is inaccessible",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "support printed branding",
+                "provide main structure",
+                "offer an alternative grasp surface"
+            ],
+            "semantic_description": "Tapered white ceramic cup body with a glossy smooth hard surface, medium-sized and cylindrical, forming the main container and showing small black printed text near the lower side.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9346160292625427,
+                    "position": [
+                        -0.004301698296330869,
+                        -0.0008193383982870728,
+                        -0.1206885491264984
+                    ],
+                    "orientation": {
+                        "w": 0.732575116636946,
+                        "xyz": [
+                            0.010630500786984468,
+                            -0.002158243367407109,
+                            0.6805997597141439
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.9332267045974731,
+                    "position": [
+                        -0.006669124471955001,
+                        -0.0011283672720310278,
+                        -0.1220095221651718
+                    ],
+                    "orientation": {
+                        "w": 0.7166584630001329,
+                        "xyz": [
+                            0.017861888099889197,
+                            0.008055709554175117,
+                            0.6971489840108587
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.9309185147285461,
+                    "position": [
+                        -0.003365791286341846,
+                        -0.0024065879406407475,
+                        -0.1221470822347328
+                    ],
+                    "orientation": {
+                        "w": 0.5903364709602489,
+                        "xyz": [
+                            -0.004326455206050852,
+                            0.013538345957963882,
+                            -0.8070321220547989
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9260339140892029,
+                    "position": [
+                        -0.006487398291938007,
+                        -0.0023655727272853255,
+                        -0.12168676301371306
+                    ],
+                    "orientation": {
+                        "w": 0.7632552305052939,
+                        "xyz": [
+                            0.016243915131579603,
+                            0.0002507151193459345,
+                            0.6458928126782629
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9258439540863037,
+                    "position": [
+                        -0.09808237792458385,
+                        0.014529357198625803,
+                        -0.0703619186533615
+                    ],
+                    "orientation": {
+                        "w": 0.5458736165206934,
+                        "xyz": [
+                            -0.33203326082939627,
+                            0.3885578247613022,
+                            -0.6639267469430509
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "interior of mug",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain liquid",
+                "hold contents",
+                "provide drinking cavity",
+                "define opening volume"
+            ],
+            "semantic_description": "White ceramic inner cavity with a glossy smooth hard surface, rounded and concave inside the mug, forming the top opening and liquid-holding space.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug base",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support on flat surfaces",
+                "stabilize upright placement",
+                "provide bottom contact surface"
+            ],
+            "semantic_description": "Circular white ceramic bottom with a slightly recessed ring, glossy smooth hard finish, located at the underside and sized to support the mug on a table.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63c5d61abd1f77124f6e42eabe45bbdfb23e32c092679fe63b42dfff04558b21
+size 3781728