Add asset kitchen_supplies/ware/0625c846390a5801b47b7e58acad5214

.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/04f02b7235da5b9cbe20916e1b788485/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/0625c846390a5801b47b7e58acad5214/affordance/affordance_annot.json

@@ -0,0 +1,118 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup interior",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain liquids",
+                "hold beverages",
+                "provide drinking cavity"
+            ],
+            "semantic_description": "Open purple cup interior with a smooth glossy hard surface, forming the concave upper cavity inside the cup body near the rim.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cup body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to pick up the empty cup",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the cup body to reposition or place it on a surface",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "stabilize the cup body while another gripper interacts with the handle",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain liquids",
+                "provide main structure",
+                "support placement on a table",
+                "provide external grasp surface"
+            ],
+            "semantic_description": "Large tapered purple cup body made of glossy hard ceramic or plastic, with a smooth surface and simple unmarked cylindrical form making up most of the object.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.4663161635398865,
+                    "position": [
+                        0.08484464613138698,
+                        -0.04144879523664713,
+                        0.11563258664682508
+                    ],
+                    "orientation": {
+                        "w": 0.28479053192757336,
+                        "xyz": [
+                            -0.7699295683105494,
+                            -0.521442810306,
+                            0.23280938199677817
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the cup",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the handle to rotate or reorient the cup",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pull the cup slightly across a surface using the handle",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the cup without squeezing the body",
+                "help reorient the cup",
+                "assist controlled pouring"
+            ],
+            "semantic_description": "Small curved purple handle with a glossy hard smooth finish, attached to the side of the cup and forming a loop sized for secure side gripping.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base of cup",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom edge while the cup is upside down for inspection or manipulation",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "support and stabilize the cup from below during placement",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "support standing",
+                "provide a stable contact surface",
+                "reinforce the bottom"
+            ],
+            "semantic_description": "Circular purple bottom base with a smooth glossy hard surface and slightly recessed foot, located at the underside of the cup and broader than the interior floor.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/0625c846390a5801b47b7e58acad5214/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22b641632b6749486d058dc92514c6943f808a37bd1df63783be37020d6598e0
+size 1452744