Add asset kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8

.gitattributes

@@ -7520,3 +7520,4 @@ dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/affordance/mesh_p
 dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/1f2830aa26c95ea593855c989c9997c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/214b5fc15d695b41abe842518ab577d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8/affordance/affordance_annot.json

@@ -0,0 +1,144 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug interior",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain liquid",
+                "provide drinking volume",
+                "hold contents"
+            ],
+            "semantic_description": "Dark gray to black ceramic interior with a smooth matte-looking hard surface, recessed inside the mug opening and forming the cup's inner cavity.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mug body from the sides to pick up the mug",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the body to stabilize the mug during placement",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "grasp the body for reorientation when the handle is inaccessible",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "support the mug structure",
+                "provide the main exterior grasp surface",
+                "support printed branding"
+            ],
+            "semantic_description": "Tapered dark gray or black ceramic mug body with a hard smooth matte finish, medium-sized and cylindrical with a rounded base, carrying small white printed text on the outer side.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9104389548301697,
+                    "position": [
+                        -0.1177052075508982,
+                        -0.0007945874822326005,
+                        -0.021664360538125038
+                    ],
+                    "orientation": {
+                        "w": 0.5272251355908403,
+                        "xyz": [
+                            0.46632705793305856,
+                            0.475951701555811,
+                            0.5272975528360111
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9030066132545471,
+                    "position": [
+                        0.061583872651681304,
+                        -0.005569929780904204,
+                        -0.09341932646930218
+                    ],
+                    "orientation": {
+                        "w": 0.6951683052155425,
+                        "xyz": [
+                            -0.24086275206672,
+                            -0.21438331162612,
+                            0.6424686434269105
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8953911662101746,
+                    "position": [
+                        -0.004258938366547227,
+                        0.0006473332759924233,
+                        -0.11799505911767483
+                    ],
+                    "orientation": {
+                        "w": 0.7068687451923593,
+                        "xyz": [
+                            0.014652001852633295,
+                            -0.00041580997413870335,
+                            0.7071928471173579
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the mug",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the handle to stabilize the mug while pouring",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "pull or reposition the mug by the handle",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the mug without gripping the hot body",
+                "stabilize the mug while pouring",
+                "help reorient the mug"
+            ],
+            "semantic_description": "Curved dark gray or black ceramic handle with a hard smooth matte finish, attached to the mug's side as a medium-sized loop sized for secure side gripping.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_26": {
+                    "confidence": 0.7692157626152039,
+                    "position": [
+                        0.1261593361850828,
+                        0.019959342142101377,
+                        -0.010301207192242146
+                    ],
+                    "orientation": {
+                        "w": 0.6492335294564668,
+                        "xyz": [
+                            0.42487627291078467,
+                            -0.373211086706153,
+                            -0.5086152393573675
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a8d09ed4aa59e5da36c5332c0ad546dc3999afe049997095b5cf2be19cbd0e5
+size 3780420