Add asset kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f

.gitattributes

@@ -7554,3 +7554,4 @@ dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/affordance/mesh_p
 dataset/kitchen_supplies/ware/43c5a94e7c995f85b2fe3bdff9c0b4b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4678c0e22e9852afb0d50ce15808d00d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/49bfb01f037d5bae95992404167333cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/affordance/affordance_annot.json

@@ -0,0 +1,147 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall to pick up the cup",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the cup body to stabilize it during placement",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the body to reorient the cup on a table",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "main structural shell",
+                "provide side grasp surface",
+                "support upright standing"
+            ],
+            "semantic_description": "Large red plastic cup wall with a slightly glossy smooth hard surface, tapered cylindrical shape, and thin lightweight sides forming most of the vessel body.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_19": {
+                    "confidence": 0.692450225353241,
+                    "position": [
+                        -0.05576982395723462,
+                        0.09574213495943695,
+                        -0.07308251014910638
+                    ],
+                    "orientation": {
+                        "w": 0.7254468075362916,
+                        "xyz": [
+                            0.6204848537328821,
+                            0.17582088451942457,
+                            0.24044228473854978
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.6496860384941101,
+                    "position": [
+                        0.007120365276932716,
+                        -0.0006666624685749412,
+                        -0.1513549869414419
+                    ],
+                    "orientation": {
+                        "w": 0.9943383566021701,
+                        "xyz": [
+                            -0.015130082006369575,
+                            0.0037413734726989833,
+                            -0.10511096675758247
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cup rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rim to lift or reposition the empty cup",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "grasp the rim to stabilize the cup while another tool interacts inside",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "define drinking edge",
+                "stiffen the opening",
+                "support lip contact",
+                "provide top boundary of container"
+            ],
+            "semantic_description": "Thin rolled red plastic rim with a glossy smooth hard finish, circling the cup opening as a narrow reinforced edge at the top.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner cavity",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold liquid",
+                "receive poured contents",
+                "provide storage space"
+            ],
+            "semantic_description": "Open red plastic interior with a smooth slightly glossy hard surface, occupying the cup's upper central cavity and forming the main containment volume.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom of cup",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base area from below to lift or steady the cup",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "contact the bottom to push or reposition the cup on a surface",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "support on flat surfaces",
+                "close the container bottom",
+                "transfer load to the table"
+            ],
+            "semantic_description": "Small circular red plastic base with a smooth hard slightly glossy finish, located at the bottom center and wider than the very lowest contact area.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_14": {
+                    "confidence": 0.1387505829334259,
+                    "position": [
+                        -0.08148027257993817,
+                        0.11047867557499558,
+                        0.04923430108465254
+                    ],
+                    "orientation": {
+                        "w": 0.32188306960165824,
+                        "xyz": [
+                            0.6047229087721744,
+                            -0.3058088692526926,
+                            0.6611977227700682
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/4a459efc2bb355d8ad05788090161f0f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:773affc49c847a8150a2530b8e59b675962db9be20f8e0783020496e07a85a03
+size 2367428