Add asset kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523

.gitattributes

@@ -7586,3 +7586,4 @@ dataset/kitchen_supplies/ware/75fdc08c932955239d6280ae459856e1/affordance/mesh_p
 dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/76f7859e87055a3181fdfea383711702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/affordance/affordance_annot.json

@@ -0,0 +1,220 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall to pick up and move the cup",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize the cup during placement",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp the body while tilting to pour contents",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain liquids",
+                "provide the main grasp surface",
+                "support pouring by tilting",
+                "form the cup sidewall"
+            ],
+            "semantic_description": "Large tapered purple cup body made of rigid plastic, with a slightly glossy smooth surface and hard texture, forming the main sidewall between the rolled rim and the base.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.8996282815933228,
+                    "position": [
+                        -0.06637001055059955,
+                        -0.0007359965820796788,
+                        0.15307306218892336
+                    ],
+                    "orientation": {
+                        "w": 0.11303587511309622,
+                        "xyz": [
+                            0.0989932054194556,
+                            0.9874384737866551,
+                            0.04887224881340245
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.879684567451477,
+                    "position": [
+                        -0.06270567345200107,
+                        0.02286137721966952,
+                        0.1500233607366681
+                    ],
+                    "orientation": {
+                        "w": 0.10777701775970458,
+                        "xyz": [
+                            0.1999225405567649,
+                            0.973550176782537,
+                            0.024802127062882463
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.8172666430473328,
+                    "position": [
+                        -0.0328862817841582,
+                        0.06780234433244914,
+                        0.15021393168717623
+                    ],
+                    "orientation": {
+                        "w": 0.169294004724891,
+                        "xyz": [
+                            0.5755877143007063,
+                            0.7999345565977277,
+                            -0.01195944275853881
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.8064969778060913,
+                    "position": [
+                        -0.0891333149629645,
+                        0.008960354956798255,
+                        0.14193483162671328
+                    ],
+                    "orientation": {
+                        "w": 0.27802863614018186,
+                        "xyz": [
+                            0.1507332309969932,
+                            0.9474696835927648,
+                            0.04775739976028602
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.7993897795677185,
+                    "position": [
+                        0.029446605418343097,
+                        -0.0637660949723795,
+                        0.1520879017189145
+                    ],
+                    "orientation": {
+                        "w": 0.11426868793293504,
+                        "xyz": [
+                            -0.5316353342490697,
+                            -0.8357901555957509,
+                            -0.07590358453456457
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.7588019371032715,
+                    "position": [
+                        -0.08867454546270892,
+                        -0.06183469214010984,
+                        0.12974887061864138
+                    ],
+                    "orientation": {
+                        "w": 0.4756357203991572,
+                        "xyz": [
+                            -0.3496603140515353,
+                            0.8071296445659012,
+                            0.007075529710100292
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.7188259363174438,
+                    "position": [
+                        -0.0028825217741541564,
+                        -0.07266747497487813,
+                        0.14844514895230532
+                    ],
+                    "orientation": {
+                        "w": 0.19493811743615702,
+                        "xyz": [
+                            -0.8137290355108607,
+                            0.5475411806342728,
+                            0.006545429446406797
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rolled rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the upper rim to lift or reorient the empty cup",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "grasp the rim to steady the cup during stacking or placement",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "strengthen the opening edge",
+                "provide a drinking edge",
+                "help retain shape at the top",
+                "aid alignment when stacking"
+            ],
+            "semantic_description": "Raised circular purple rim at the cup opening, likely rigid plastic with a glossy smooth finish, hard texture, and a rounded lip running around the top edge.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_16": {
+                    "confidence": 0.6631840467453003,
+                    "position": [
+                        0.07023917866172269,
+                        -0.0699151559965685,
+                        0.13625297416001558
+                    ],
+                    "orientation": {
+                        "w": 0.20240478238173878,
+                        "xyz": [
+                            0.6119683214298699,
+                            -0.6767567672937536,
+                            -0.3557068393458529
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base ring",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cup upright",
+                "stabilize contact with surfaces",
+                "protect the bottom edge",
+                "define the lower footprint"
+            ],
+            "semantic_description": "Narrow purple ring around the lower outside edge, appearing as rigid smooth plastic with a slightly glossy finish, encircling the small bottom perimeter for support.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the cup bottom",
+                "support contained liquid from below",
+                "provide a resting surface",
+                "add structural stiffness"
+            ],
+            "semantic_description": "Flat to slightly recessed dark purple circular bottom panel made of hard smooth plastic, with a matte-to-satin appearance, centered underneath the cup.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0732cb51b30a75c9422a0dcf5d3bcb5500c7ae50e3a866930ffe83e6fe431229
+size 1583796