Add asset kitchen_supplies/ware/890944f6f93f5df2875c2033274919f6

.gitattributes

@@ -7591,3 +7591,4 @@ dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/affordance/mesh_p
 dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/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/8769ca436951540b94c7ef7f33a42d62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/890944f6f93f5df2875c2033274919f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/890944f6f93f5df2875c2033274919f6/affordance/affordance_annot.json

@@ -0,0 +1,126 @@
+{
+    "affordances": [
+        {
+            "part_name": "rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or grasp the top rim to lift the lightweight container",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the rim to stabilize the container during placement or reorientation",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a top gripping edge",
+                "define the opening",
+                "stiffen the mouth of the container",
+                "assist pouring from the lip"
+            ],
+            "semantic_description": "Wide circular light gray rim with a smooth plastic surface and slight matte finish, forming the raised top edge around the opening with no visible markings.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_12": {
+                    "confidence": 0.9343244433403015,
+                    "position": [
+                        0.09015530219767243,
+                        0.16293857293203473,
+                        0.1484871068969369
+                    ],
+                    "orientation": {
+                        "w": 0.14690488530730955,
+                        "xyz": [
+                            0.8573725413288916,
+                            0.46939857595265333,
+                            -0.15164516788116172
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall/body to lift and carry the container",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the body to stabilize the container while filling or emptying it",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the lower body to reorient the container upright",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "provide the main grasp surface",
+                "support the vessel structure",
+                "provide a stable resting base through the lower portion"
+            ],
+            "semantic_description": "Tapered light gray body with a smooth plastic surface and mostly matte finish, bowl-like and medium-sized with a broad opening and narrower base, with no visible markings.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.1056767925620079,
+                    "position": [
+                        -0.027369707240723073,
+                        0.05332259135320783,
+                        -0.1731085767969489
+                    ],
+                    "orientation": {
+                        "w": 0.9546144017277334,
+                        "xyz": [
+                            0.06802501438852482,
+                            0.25535371530769946,
+                            0.13739876822590855
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.09783557802438736,
+                    "position": [
+                        -0.019674185081385076,
+                        0.10818680422380567,
+                        -0.15482401754707098
+                    ],
+                    "orientation": {
+                        "w": 0.3909573555469911,
+                        "xyz": [
+                            -0.13506444357172878,
+                            -0.2099485689522873,
+                            0.8859071851053301
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.08998406678438187,
+                    "position": [
+                        -0.0625199688365683,
+                        0.08664511190727353,
+                        -0.16005466785281897
+                    ],
+                    "orientation": {
+                        "w": 0.39895604039082194,
+                        "xyz": [
+                            0.05460771801747935,
+                            -0.02456740388930334,
+                            0.9150128510762787
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/890944f6f93f5df2875c2033274919f6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4babf08b6716b7595fd8e6533dd86fba292ccd31bc91c15831cbfeb1face473
+size 1683448