Add asset kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d

.gitattributes

@@ -8521,3 +8521,4 @@ dataset/kitchen_supplies/ware/f12311730f8d5f01a45b101bbaa8c165/affordance/mesh_p
 dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/f471d3b4491656c8aa184006ee17be71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/affordance/affordance_annot.json

@@ -0,0 +1,142 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup interior",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain liquid",
+                "hold contents",
+                "provide drinking cavity",
+                "guide pouring from the rim"
+            ],
+            "semantic_description": "Smooth glossy white ceramic inner basin with a hard slick surface, forming the large concave cavity at the top inside of the cup.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cup body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to pick up the cup",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the body to stabilize the cup during placement",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "grasp the body when the handle is inaccessible",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main structure",
+                "support printed decoration",
+                "offer exterior grasp surface"
+            ],
+            "semantic_description": "Large rounded white ceramic outer wall with a glossy hard smooth finish and colorful floral printed decorations, forming most of the cup's exterior.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot ring",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support upright standing",
+                "stabilize on a table",
+                "elevate the base slightly"
+            ],
+            "semantic_description": "Small circular unglazed-looking beige and white ceramic base ring with a hard slightly matte surface at the bottom center, serving as the cup's standing contact area.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cup handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the cup",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the handle to stabilize the cup while drinking or pouring",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hook a gripper through or around the handle for sideways retrieval",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "lift the cup without gripping the body",
+                "stabilize while pouring",
+                "help keep hands away from hot contents"
+            ],
+            "semantic_description": "Curved white ceramic handle with a glossy hard smooth finish, medium-sized and loop-shaped, attached to the cup's side for gripping.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_17": {
+                    "confidence": 0.9298224449157715,
+                    "position": [
+                        -0.06931431009434164,
+                        -0.032153509091585875,
+                        0.1268946744967252
+                    ],
+                    "orientation": {
+                        "w": 0.09183106131201191,
+                        "xyz": [
+                            -0.23748093260118572,
+                            0.9668340660905724,
+                            0.020043739071115462
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9286428093910217,
+                    "position": [
+                        -0.07640420808456838,
+                        -0.04105487046763301,
+                        0.11887179245240986
+                    ],
+                    "orientation": {
+                        "w": 0.16204159213972247,
+                        "xyz": [
+                            -0.2574693431129805,
+                            0.9510137318493445,
+                            0.05499946915905197
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9272002577781677,
+                    "position": [
+                        -0.06598954065702856,
+                        -0.053582053165882826,
+                        0.12578798015601933
+                    ],
+                    "orientation": {
+                        "w": 0.11857839048665476,
+                        "xyz": [
+                            -0.24753861390856696,
+                            0.9565401321856024,
+                            0.0984620508224847
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:572349df29c11ca5145249e943a60b961b9300354ae3f4e5262b23d32f26b3ea
+size 1364364