Add asset kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc

.gitattributes

@@ -7571,4 +7571,4 @@ dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/affordance/mesh_p
 dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/611519fdfedd5d309da7e5235d0b2e62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/652b7e327ef955ccb7a136c7ed1fe728/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/affordance/affordance_annot.json

@@ -0,0 +1,158 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to pick up the empty cup",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the body to stabilize the cup during placement",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "grasp the body for reorientation on a table",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main structure",
+                "support pouring",
+                "main grasp surface"
+            ],
+            "semantic_description": "Large tapered yellow cup body made of glossy enameled metal, with a hard smooth surface, rounded cylindrical shape, and no visible markings, forming the main sidewall and base of the cup.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_26": {
+                    "confidence": 0.6043615341186523,
+                    "position": [
+                        0.007710318546742201,
+                        -0.0022930826380616054,
+                        -0.15156720427330583
+                    ],
+                    "orientation": {
+                        "w": 0.6595541574167567,
+                        "xyz": [
+                            0.012810714802352224,
+                            0.025155612857929555,
+                            0.7511267497315396
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.5831021070480347,
+                    "position": [
+                        0.00951328279916197,
+                        0.0030190833058441058,
+                        -0.1460450425511226
+                    ],
+                    "orientation": {
+                        "w": 0.6567853321021904,
+                        "xyz": [
+                            0.014289982521307133,
+                            0.013013270835474655,
+                            0.7538298738555796
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.5800372958183289,
+                    "position": [
+                        0.012683211360126734,
+                        -0.008528302409104072,
+                        -0.15109829453285784
+                    ],
+                    "orientation": {
+                        "w": 0.8702936614709688,
+                        "xyz": [
+                            -0.014950986268567265,
+                            -0.005751586676314369,
+                            -0.4922726176253936
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.5798435211181641,
+                    "position": [
+                        0.009465744893532246,
+                        -0.0017578520200913772,
+                        -0.14959788171108812
+                    ],
+                    "orientation": {
+                        "w": 0.8121708911640506,
+                        "xyz": [
+                            -0.012757162237560156,
+                            0.0184721813049451,
+                            -0.5829875443568878
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cup rim",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define drinking edge",
+                "stiffen the opening",
+                "help retain shape",
+                "border the mouth of the cup"
+            ],
+            "semantic_description": "Thin black rolled rim around the top opening, likely enameled metal, with a glossy smooth hard finish forming a narrow circular edge at the cup mouth.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior of cup",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold liquid",
+                "provide drinking cavity",
+                "contain contents"
+            ],
+            "semantic_description": "Light off-white interior cavity with a smooth glossy hard finish, likely enamel-coated metal, recessed inside the cup and sized to hold beverages.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the cup",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the handle to stabilize the cup while pouring",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hook a gripper through the handle opening for retrieval or repositioning",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "lift the cup without squeezing the body",
+                "stabilize during pouring",
+                "aid hanging or retrieval"
+            ],
+            "semantic_description": "Medium-size curved yellow handle made of glossy enameled metal, with a hard smooth surface and rectangular loop shape attached to the cup side.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42ca3dc87f09a354f479463070b4d551157cfe2b39f1afc6449d661592e3b40b
+size 2153260