Add asset kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258

.gitattributes

@@ -7589,4 +7589,4 @@ dataset/kitchen_supplies/ware/76f7859e87055a3181fdfea383711702/affordance/mesh_p
 dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/85e39841ef325521ab8037ebf023c400/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/affordance/affordance_annot.json

@@ -0,0 +1,127 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug interior opening and bottom base",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide the drinking opening",
+                "allow filling and access to the interior",
+                "form the bottom contact base when the mug is upright"
+            ],
+            "semantic_description": "Red-brown ceramic surfaces corresponding to the interior visible through the top opening and the circular bottom base underneath. The material appears hard and smooth, with a mostly matte to lightly burnished finish.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "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": 0.86
+                },
+                {
+                    "scenario": "hold the body to stabilize the mug during placement",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp the body for reorientation when the mug is empty or lightly filled",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide the main vessel volume",
+                "support side grasping",
+                "present the drinking opening"
+            ],
+            "semantic_description": "Large cylindrical ceramic cup body with a dark gray to black upper glaze and red-brown lower clay body, mostly matte with some smoother worn areas. It has a slightly irregular handcrafted profile and a dripped glaze boundary around the lower half.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_8": {
+                    "confidence": 0.34795570373535156,
+                    "position": [
+                        0.07249463419429958,
+                        0.004692463087849319,
+                        0.12897464353591204
+                    ],
+                    "orientation": {
+                        "w": 0.16296177867541292,
+                        "xyz": [
+                            0.6695120446813492,
+                            -0.7094518737125948,
+                            -0.14790239890966472
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the mug",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to tilt or pour from the mug",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "use the handle for precise reorientation",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the mug without enclosing the body",
+                "stabilize the mug while tilting or pouring"
+            ],
+            "semantic_description": "Curved loop handle made of dark glazed ceramic, with a smooth hard surface and rounded cross-section, attached to the mug side near the rim and upper body.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.9019019603729248,
+                    "position": [
+                        0.16119913081638515,
+                        -0.002771013299934566,
+                        0.00020652823150157928
+                    ],
+                    "orientation": {
+                        "w": 0.6287513881793515,
+                        "xyz": [
+                            -0.3780007767853688,
+                            -0.3925941600416818,
+                            0.55466830638983
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.8417561650276184,
+                    "position": [
+                        0.1546127728652209,
+                        -0.003999424981884658,
+                        -0.011496946448460221
+                    ],
+                    "orientation": {
+                        "w": 0.5721281819045108,
+                        "xyz": [
+                            0.3409718265730908,
+                            -0.34492542498089995,
+                            -0.6613879407396204
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5111ea33b50c4ce0d2a51bbef401c24680cb81689ed1af2b5721b509ca6d9e6
+size 3782092