Add asset kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2

.gitattributes

@@ -7588,4 +7588,4 @@ dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/affordance/mesh_p
 dataset/kitchen_supplies/ware/76f7859e87055a3181fdfea383711702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/849ac7e0e8945a7ab44f44423051bd69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/affordance/affordance_annot.json

@@ -0,0 +1,152 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the cup",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the handle to stabilize the cup while repositioning it",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hook or pinch the handle to rotate the cup orientation",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the cup without squeezing the body",
+                "stabilize during pouring or repositioning",
+                "enable one-sided handling"
+            ],
+            "semantic_description": "Small curved blue ceramic handle with a glossy smooth hard surface, attached on the cup side as a loop sized for side gripping.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_11": {
+                    "confidence": 0.45566853880882263,
+                    "position": [
+                        0.02085333614377305,
+                        0.09119625762104988,
+                        0.1136931887594983
+                    ],
+                    "orientation": {
+                        "w": 0.23543773346494168,
+                        "xyz": [
+                            0.9696345725296622,
+                            0.010823754813883923,
+                            -0.0652741583464663
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.3782130479812622,
+                    "position": [
+                        0.010478319774847478,
+                        0.15133414044976234,
+                        0.013124070945195854
+                    ],
+                    "orientation": {
+                        "w": 0.7775612272456639,
+                        "xyz": [
+                            0.6142248719491228,
+                            0.058101017150910095,
+                            -0.12145211554077631
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cup body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to pick up the cup",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the body to stabilize the cup on a surface",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "grasp the body when the handle is inaccessible",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide the main structure",
+                "support side grasping",
+                "present the drinking opening"
+            ],
+            "semantic_description": "Large tapered blue ceramic cup body with a glossy smooth hard surface, forming most of the vessel and enclosing the interior with no visible markings.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior basin",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold liquid",
+                "provide drinking cavity",
+                "receive poured contents",
+                "define the open top"
+            ],
+            "semantic_description": "Concave blue glazed ceramic interior with a glossy smooth hard finish, occupying the cup's top opening as the main cavity for contents.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base ring",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the base to invert or reorient the cup during manipulation",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "grasp the bottom edge to steady the cup during placement",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "support the cup on a flat surface",
+                "stabilize upright placement",
+                "provide a contact surface with the table"
+            ],
+            "semantic_description": "Small dark gray circular ceramic bottom area with a matte dull hard surface, centered under the cup as the flat supporting base.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.024523835629224777,
+                    "position": [
+                        0.09837337321368977,
+                        -0.084333885461092,
+                        -0.08598353352863342
+                    ],
+                    "orientation": {
+                        "w": 0.758880343894971,
+                        "xyz": [
+                            -0.12620901043902225,
+                            -0.5102917123840202,
+                            -0.3844142005780198
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/857a0c9d0e755806b1edd345dab9d9d2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c2069392d3e47373d41b2078b9ce685c0864cedbfdb54dddf9892a5fddbe565
+size 765328