Add asset kitchen_supplies/ware/c7a1beb7101c57b5bb58aee1e7d48187

.gitattributes

@@ -7645,3 +7645,4 @@ dataset/kitchen_supplies/ware/c6c4a25c158c58309bef8ca6fa9d51eb/affordance/mesh_p
 dataset/kitchen_supplies/ware/c7b164ac416651189f48f87fac6bcac4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/c7a1beb7101c57b5bb58aee1e7d48187/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/c7a1beb7101c57b5bb58aee1e7d48187/affordance/affordance_annot.json

@@ -0,0 +1,167 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug body",
+            "mask_color": "Red",
+            "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": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main structure",
+                "support the handle",
+                "provide exterior grasp surface"
+            ],
+            "semantic_description": "Large tapered light pink ceramic body with a glossy smooth hard surface, forming the main cup walls and base with a plain unmarked exterior.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.9434155821800232,
+                    "position": [
+                        -0.0068907104432582855,
+                        0.00020076829241588712,
+                        -0.12192703213077039
+                    ],
+                    "orientation": {
+                        "w": 0.7229897875572563,
+                        "xyz": [
+                            0.012259173075142925,
+                            -0.008083953056020166,
+                            0.6907026346166745
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9414438009262085,
+                    "position": [
+                        -0.0022329838830046356,
+                        -0.0015113045810721815,
+                        -0.1214934455929324
+                    ],
+                    "orientation": {
+                        "w": 0.751744148237645,
+                        "xyz": [
+                            0.015589988783876142,
+                            6.222324969973325e-05,
+                            0.6592705696210343
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9412217736244202,
+                    "position": [
+                        -0.003709536511451006,
+                        -0.0025749074993655086,
+                        -0.12333406682591885
+                    ],
+                    "orientation": {
+                        "w": 0.7112153740609887,
+                        "xyz": [
+                            0.003306226591073025,
+                            -0.005694769257688859,
+                            0.7029433335398506
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9396769404411316,
+                    "position": [
+                        0.000234761624597013,
+                        0.0003291311440989375,
+                        -0.1191617789445445
+                    ],
+                    "orientation": {
+                        "w": 0.6450213662797479,
+                        "xyz": [
+                            0.015026728624370019,
+                            0.011838406463958173,
+                            -0.7639250530005228
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9386782646179199,
+                    "position": [
+                        -0.008729741908609867,
+                        -0.00012751593021675944,
+                        -0.1176402586279437
+                    ],
+                    "orientation": {
+                        "w": 0.7430645330064143,
+                        "xyz": [
+                            0.010450186123404641,
+                            -0.0032174185353796014,
+                            0.6691304369223643
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner cup surface",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold liquid",
+                "provide drinking cavity",
+                "define interior volume"
+            ],
+            "semantic_description": "Light pink glossy ceramic interior with a smooth hard finish, forming the open concave cavity at the top of the mug and appearing clean and unmarked.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the mug",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to stabilize and orient the mug while pouring or drinking",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "lift the mug without enclosing the body",
+                "stabilize orientation during use"
+            ],
+            "semantic_description": "Curved light pink ceramic handle with a glossy smooth hard surface, attached to the mug side as a medium-sized loop sized for secure side gripping.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.5700237154960632,
+                    "position": [
+                        0.14568280708044767,
+                        -0.0008620995649835095,
+                        0.011383202974684536
+                    ],
+                    "orientation": {
+                        "w": 0.7098351989830849,
+                        "xyz": [
+                            0.04223395488747235,
+                            -0.702084126265923,
+                            -0.03779104370909297
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/c7a1beb7101c57b5bb58aee1e7d48187/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8377d78f6a53a8e8e8ae70d94d99a5e5b622334f03623554f34b74e335d3be0
+size 3780432