Add asset kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd

.gitattributes

@@ -7523,4 +7523,4 @@ dataset/kitchen_supplies/ware/214b5fc15d695b41abe842518ab577d5/affordance/mesh_p
 dataset/kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/25f8a45f693e5066917ba11ed7f6e4cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/27c3fe580f725b798c9e57c8293dddf6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/affordance/affordance_annot.json

@@ -0,0 +1,161 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the mug",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to stabilize the mug while pouring",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hook or pinch the handle to reorient the mug on a surface",
+                    "confidence": 0.74
+                }
+            ],
+            "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 white ceramic handle with a glossy smooth hard surface, medium size and looped shape attached to the mug side for gripping.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.5868160724639893,
+                    "position": [
+                        0.018542671139584854,
+                        -0.05292459949851036,
+                        -0.11349453637376428
+                    ],
+                    "orientation": {
+                        "w": 0.9972130708428454,
+                        "xyz": [
+                            0.021781478247439586,
+                            -0.0578336015639892,
+                            0.04179632849517131
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.4586358666419983,
+                    "position": [
+                        -0.013178966444684193,
+                        -0.05669766291975975,
+                        -0.1118235201574862
+                    ],
+                    "orientation": {
+                        "w": 0.9789068345345212,
+                        "xyz": [
+                            0.008398968885207183,
+                            0.052584086185145096,
+                            -0.1972454828464819
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.39726436138153076,
+                    "position": [
+                        -0.07417502670432441,
+                        -0.11767053976655006,
+                        0.027884659823030233
+                    ],
+                    "orientation": {
+                        "w": 0.3254895715305145,
+                        "xyz": [
+                            -0.7423990863171186,
+                            -0.2015906484989618,
+                            -0.549782998916989
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "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 place or reposition the mug when empty or cool",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "stabilize the mug body while another tool interacts with the handle or rim",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "support the mug structure",
+                "provide main exterior grasp surface",
+                "rest on a table"
+            ],
+            "semantic_description": "Tapered white ceramic mug body with a glossy smooth hard surface, medium-sized and cylindrical with slightly narrowing base and plain unmarked sides.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_33": {
+                    "confidence": 0.2358807474374771,
+                    "position": [
+                        0.00258124599349685,
+                        -0.01500997506082058,
+                        -0.1342808292247355
+                    ],
+                    "orientation": {
+                        "w": 0.9971944435088069,
+                        "xyz": [
+                            0.05037359491535615,
+                            0.011091366335884367,
+                            0.05424688344289537
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.20866137742996216,
+                    "position": [
+                        -0.06517601429368369,
+                        0.03380168229341507,
+                        0.121500791516155
+                    ],
+                    "orientation": {
+                        "w": 0.22526940062400333,
+                        "xyz": [
+                            0.7601682622560387,
+                            0.5822617373276818,
+                            0.1799143669785321
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner cup cavity",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold beverages",
+                "provide drinking volume",
+                "receive poured liquid",
+                "define the mug opening"
+            ],
+            "semantic_description": "White glazed ceramic interior with a glossy smooth hard surface, round and concave inside the mug top, clean and unmarked.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19567f424b2ea2f1f1ccc17d3cc34d8a6ee19d0d266f0cc1edb5c8fdc6238fe3
+size 906960