Add asset kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7

.gitattributes

@@ -7570,3 +7570,4 @@ dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/affordance/mesh_p
 dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/611519fdfedd5d309da7e5235d0b2e62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/affordance/affordance_annot.json

@@ -0,0 +1,184 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mug body from the side to pick up the mug",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the mug body to stabilize it while placing or moving it",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide the main structure",
+                "support the handle attachment",
+                "provide a side grasp surface"
+            ],
+            "semantic_description": "Large cylindrical pale mint-green mug body with a smooth hard surface and a slightly flared upper rim area, forming the main outer volume above the base.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.5475141406059265,
+                    "position": [
+                        0.04091620026156306,
+                        0.008467888517770916,
+                        0.12303991091903299
+                    ],
+                    "orientation": {
+                        "w": 0.16440604994786914,
+                        "xyz": [
+                            0.7580338429938576,
+                            -0.6119816449668253,
+                            -0.15438202563835285
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.35719022154808044,
+                    "position": [
+                        0.035264070611447096,
+                        -0.03575651621213183,
+                        -0.1097624950343743
+                    ],
+                    "orientation": {
+                        "w": 0.6926006579909164,
+                        "xyz": [
+                            -0.0953234452884171,
+                            -0.04502729442427156,
+                            -0.7135757227412701
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the mug",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the handle to stabilize and reorient the mug",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the mug without enclosing the body",
+                "stabilize the mug during movement"
+            ],
+            "semantic_description": "Curved loop handle on the mug side, matching the pale mint-green appearance and smooth hard finish of the mug, attached near the upper and mid body.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.8106945157051086,
+                    "position": [
+                        0.07045719353482127,
+                        -0.0005655658096657135,
+                        -0.10110866057220846
+                    ],
+                    "orientation": {
+                        "w": 0.6853247098694022,
+                        "xyz": [
+                            0.009739712395481907,
+                            -0.015110624960260055,
+                            -0.728015692865328
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.7939261794090271,
+                    "position": [
+                        0.09383642254397273,
+                        0.006483446399215609,
+                        -0.093297278159298
+                    ],
+                    "orientation": {
+                        "w": 0.6493517904123237,
+                        "xyz": [
+                            -0.09748522890667984,
+                            -0.08314979247187515,
+                            0.7496165649485115
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.7357231974601746,
+                    "position": [
+                        0.07724135695025325,
+                        0.003998621890787035,
+                        -0.08911870198789984
+                    ],
+                    "orientation": {
+                        "w": 0.6600882184875374,
+                        "xyz": [
+                            0.03857386114546318,
+                            -0.022121803920677197,
+                            -0.7498708067671219
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug interior",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold liquid",
+                "define the drinking cavity",
+                "receive contents"
+            ],
+            "semantic_description": "Open top cavity with a smooth pale mint-green interior surface, recessed inside the mug body and forming the main container space.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug base",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support or press against the bottom while reorienting or placing the mug",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "support standing",
+                "contact the table",
+                "stabilize the mug upright"
+            ],
+            "semantic_description": "Flat circular underside base at the bottom of the mug, pale mint-green and smooth, providing the main table-contact surface.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom foot rim",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the raised transition near the bottom",
+                "separate the underside base from the side wall",
+                "add stability when standing upright"
+            ],
+            "semantic_description": "Thin raised circular ring around the lower outer edge near the bottom, pale mint-green and smooth, visible as a subtle band surrounding the underside base.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Bottom foot rim graspability and function are incorrect; rim is visible and can aid stabilization/manipulation."
+    }
+}

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7f38df5be9061fc0eeed2f06add1ee433c80f836fa19056c27aa518f048d340
+size 3781968