Add asset kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7

.gitattributes

@@ -7501,4 +7501,4 @@ dataset/kitchen_supplies/ware/03a3daec03c85f45852bd5f8281fadec/affordance/mesh_p
 dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/0625c846390a5801b47b7e58acad5214/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/affordance/affordance_annot.json

@@ -0,0 +1,126 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mug body from the sides to pick up the mug",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the mug body to stabilize it while placing or repositioning",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main structural support",
+                "serve as main grasp surface",
+                "support the rim and base"
+            ],
+            "semantic_description": "Large tapered off-white ceramic mug body with a glossy smooth hard surface, cylindrical shape with a slightly flared rim, forming most of the mug and showing faint small speckles.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_27": {
+                    "confidence": 0.4075068235397339,
+                    "position": [
+                        0.03930499334819615,
+                        0.06989340577274561,
+                        0.12295776791870594
+                    ],
+                    "orientation": {
+                        "w": 0.2895434901498244,
+                        "xyz": [
+                            0.9453296613820463,
+                            -0.08867887928521717,
+                            -0.12104732542225753
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.32379838824272156,
+                    "position": [
+                        -0.025985982967540622,
+                        -0.08873237576335669,
+                        0.12499511428177357
+                    ],
+                    "orientation": {
+                        "w": 0.30678188954884666,
+                        "xyz": [
+                            -0.9345649149040821,
+                            0.1706447064037115,
+                            -0.05791093378245757
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the mug",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the handle to stabilize and orient the mug while pouring",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the mug without touching the hot body",
+                "stabilize the mug while pouring",
+                "help orient the mug"
+            ],
+            "semantic_description": "Curved off-white ceramic handle with a glossy smooth hard surface, medium-sized and loop-shaped, attached to the side of the mug for side gripping.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior of mug",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold beverages",
+                "provide liquid-facing surface",
+                "define the drinking cavity"
+            ],
+            "semantic_description": "Off-white glossy ceramic interior with a smooth hard finish, bowl-like and recessed inside the mug, forming the main cavity for holding liquid.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug base",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mug from the bottom edge during bin picking or upside-down retrieval",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "support or push against the base to reposition the mug on a surface",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support upright placement",
+                "provide a stable contact surface",
+                "protect the vessel during setting down"
+            ],
+            "semantic_description": "Flat circular off-white ceramic bottom with a glossy to slightly dull smooth hard surface, located at the mug underside and sized to support stable standing.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6a0fb03a33045671d993369f2e9b28230065ca65e03d1bef07aa0225ba2dd3
+size 714784