Add asset kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8

.gitattributes

@@ -7562,3 +7562,4 @@ dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/affordance/mesh_p
 dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/affordance/affordance_annot.json

@@ -0,0 +1,162 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side wall to pick up the cup",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the body to stabilize the cup during placement",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the lower body to reorient the cup",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "contain liquids",
+                "main grasp surface",
+                "support the cup structure",
+                "present the outer wall for holding"
+            ],
+            "semantic_description": "Large tapered purple plastic cup body with a glossy smooth hard surface, cylindrical-conical shape, centered as the main exterior wall, decorated with small white polka dots.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base ring",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom edge to lift or reposition the cup",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "pinch the base area to stabilize the cup while another tool interacts with the rim",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "support standing",
+                "stabilize the bottom",
+                "contact the table surface",
+                "reinforce the base edge"
+            ],
+            "semantic_description": "Narrow purple plastic ring around the cup bottom with a glossy smooth hard finish, circular and slightly raised at the underside perimeter.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner wall",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain liquids",
+                "form the drinking cavity",
+                "guide poured contents",
+                "provide interior surface"
+            ],
+            "semantic_description": "Smooth glossy purple plastic inner surface lining the cup interior, broad and concave, forming the main cavity beneath the opening.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift an empty or lightweight cup",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the rim to orient the cup opening for pouring or inspection",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "provide drinking edge",
+                "define the opening",
+                "support top structure",
+                "guide pouring from the lip"
+            ],
+            "semantic_description": "Thin rolled purple plastic rim with a glossy smooth hard surface, circular and slightly flared at the top edge of the cup.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_54": {
+                    "confidence": 0.9217639565467834,
+                    "position": [
+                        0.12343620916362852,
+                        0.03305464709410444,
+                        0.09420530195347965
+                    ],
+                    "orientation": {
+                        "w": 0.3378320547099967,
+                        "xyz": [
+                            0.8433814829386076,
+                            0.019763390584905838,
+                            -0.417356664543991
+                        ]
+                    }
+                },
+                "grasp_55": {
+                    "confidence": 0.8771275281906128,
+                    "position": [
+                        0.049345642677508295,
+                        -0.1120943677960895,
+                        0.10724625433795154
+                    ],
+                    "orientation": {
+                        "w": 0.12783590057702454,
+                        "xyz": [
+                            -0.19465650732728965,
+                            -0.830129722525276,
+                            -0.5066078073410536
+                        ]
+                    }
+                },
+                "grasp_59": {
+                    "confidence": 0.6554268598556519,
+                    "position": [
+                        -0.050049867131747305,
+                        -0.09202001517405733,
+                        0.10876745427958667
+                    ],
+                    "orientation": {
+                        "w": 0.1998476791154547,
+                        "xyz": [
+                            0.5082634629417339,
+                            0.7055458046077178,
+                            0.4515908269563184
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper lip band",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "stiffen the upper wall",
+                "transition between rim and body",
+                "reinforce the opening area"
+            ],
+            "semantic_description": "Narrow purple plastic band just below the rim, glossy and smooth, wrapping around the upper exterior as a subtle structural transition.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d80c62d5c3550d0c7fa7d461132fa75b836e7a06a2725e216a2a4da9d682739
+size 2357260