Add asset kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988

.gitattributes

@@ -7561,3 +7561,4 @@ dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/affordance/mesh_p
 dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/affordance/affordance_annot.json

@@ -0,0 +1,141 @@
+{
+    "affordances": [
+        {
+            "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": 0.78
+                },
+                {
+                    "scenario": "hold the body to stabilize the mug while placing it down",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "grasp the body when the handle is inaccessible",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main structure",
+                "support side grasping",
+                "support the handle"
+            ],
+            "semantic_description": "Main mug vessel with a smooth glossy white or light cream opaque ceramic body, rounded slightly tapered cylindrical shape, medium size, with amber liquid visible near the top and white printed branding near one side.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_9": {
+                    "confidence": 0.8912716507911682,
+                    "position": [
+                        -0.005975247477181256,
+                        0.002728915977058932,
+                        -0.11689989967271686
+                    ],
+                    "orientation": {
+                        "w": 0.6719495695137837,
+                        "xyz": [
+                            0.029179304467880147,
+                            -0.005161405293451882,
+                            0.7400038541226714
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8874781131744385,
+                    "position": [
+                        0.0021008631447330117,
+                        -0.0019561962981242687,
+                        -0.11918225092813373
+                    ],
+                    "orientation": {
+                        "w": 0.7615582642756555,
+                        "xyz": [
+                            -0.008592943327393462,
+                            -0.003495292521342175,
+                            -0.648030056686118
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8843615651130676,
+                    "position": [
+                        -0.0007165453862398863,
+                        -0.00018833737703971565,
+                        -0.11632734490558505
+                    ],
+                    "orientation": {
+                        "w": 0.7161259990616514,
+                        "xyz": [
+                            0.0199928906398835,
+                            0.003589724120416915,
+                            0.6976753913336429
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the mug",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the handle to tilt or pour the mug",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hook or pinch the handle to reorient the mug on a table",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the mug without enclosing the body",
+                "help tilt for pouring",
+                "aid orientation control"
+            ],
+            "semantic_description": "Curved loop handle with a smooth glossy white ceramic appearance, attached to the mug side and sized for side gripping.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug opening",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "allow drinking",
+                "allow filling",
+                "provide access to the interior"
+            ],
+            "semantic_description": "Circular top opening at the mug rim, showing the bright interior area and liquid surface inside the mug.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug rim",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define the drinking edge",
+                "contain liquid at the top boundary",
+                "form the top boundary of the mug"
+            ],
+            "semantic_description": "Thin rounded rim around the top edge, smooth and glossy, forming a narrow circular lip at the mug opening.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Body description wrongly says ceramic and printed branding; mug appears transparent glass with logo, opening description color inaccurate."
+    }
+}

dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e37cfcce55c38f23f7a9a6f2db5cd2e03168a1b3c23aa433d0406f1f78b0fb81
+size 3781604