Add asset kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7

.gitattributes

@@ -7602,3 +7602,4 @@ dataset/kitchen_supplies/ware/9451044b73295f0aadc05c5be170dee3/affordance/mesh_p
 dataset/kitchen_supplies/ware/9575a45408f75b12b7ef560aeb760794/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/9ccab934d9d8597bb38a87346fbf8c38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/affordance/affordance_annot.json

@@ -0,0 +1,145 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the cup",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to stabilize and reorient the cup",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pull the cup slightly across a surface by the handle",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the cup without squeezing the body",
+                "stabilize the cup during pouring",
+                "help reorient the cup"
+            ],
+            "semantic_description": "Small curved white ceramic handle with a glossy smooth hard surface, looped from the cup side and sized for side gripping.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.578395664691925,
+                    "position": [
+                        0.032841359672602266,
+                        0.12937944196164608,
+                        0.07843585929367691
+                    ],
+                    "orientation": {
+                        "w": 0.4934211274258174,
+                        "xyz": [
+                            0.8480269206529569,
+                            0.06417894377279876,
+                            -0.18239242318119114
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cup interior",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain liquid",
+                "hold beverage volume",
+                "provide drinking reservoir",
+                "define the open top"
+            ],
+            "semantic_description": "Open white ceramic inner bowl with a glossy smooth hard finish, circular and recessed at the top as the cup's liquid-holding cavity.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cup body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to pick it up",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the body to place or reposition the cup on a surface",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "stabilize the cup body while another gripper manipulates the handle",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "support the cup structure",
+                "provide the main outer grasp surface",
+                "rest on a table"
+            ],
+            "semantic_description": "Large rounded white ceramic cup body with a glossy smooth hard surface, slightly tapered and forming most of the vessel with no visible markings.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_29": {
+                    "confidence": 0.24484696984291077,
+                    "position": [
+                        -0.06962789461249486,
+                        -0.044497376307845116,
+                        0.124687715084292
+                    ],
+                    "orientation": {
+                        "w": 0.21910132095097204,
+                        "xyz": [
+                            -0.8217236059496276,
+                            0.49824697281678854,
+                            -0.16886349712589374
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.21050526201725006,
+                    "position": [
+                        -0.06544390931958333,
+                        -0.04768412746489048,
+                        0.12347130349371582
+                    ],
+                    "orientation": {
+                        "w": 0.22770541392722748,
+                        "xyz": [
+                            -0.8232485528957242,
+                            0.49352828613606503,
+                            -0.16383496393299093
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.20657458901405334,
+                    "position": [
+                        -0.07056143746012822,
+                        -0.020982439164072275,
+                        0.12172252556774765
+                    ],
+                    "orientation": {
+                        "w": 0.2010395503996446,
+                        "xyz": [
+                            0.6321099067223855,
+                            0.7220830230465963,
+                            0.1965102359329266
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c68f06b7bebb777904e4c55bd4b4bd4314ad9c81b91b93a25b6dec9b069c483
+size 638584