Add asset kitchen_supplies/ware/652b7e327ef955ccb7a136c7ed1fe728

.gitattributes

@@ -7571,3 +7571,4 @@ dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/affordance/mesh_p
 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/63a01f8c0e2c5431add57b070a9539c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/652b7e327ef955ccb7a136c7ed1fe728/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/652b7e327ef955ccb7a136c7ed1fe728/affordance/affordance_annot.json

@@ -0,0 +1,123 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mug body from the sides to pick up the mug",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the body to stabilize the mug while placing it down",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide the main structure",
+                "support the handle",
+                "serve as a grasp surface"
+            ],
+            "semantic_description": "Tall rounded transparent glass mug body with a smooth glossy reflective surface, slightly tapered cylindrical shape, medium size, and visible dark vertical printed text on one side.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_33": {
+                    "confidence": 0.9774316549301147,
+                    "position": [
+                        -0.0038647796609438956,
+                        -0.005121957161463797,
+                        -0.12774256290867925
+                    ],
+                    "orientation": {
+                        "w": 0.998971811073539,
+                        "xyz": [
+                            0.0041590131348994515,
+                            0.020617015193596933,
+                            -0.0401616978563394
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the mug",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to carry or reposition the mug",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the mug while pouring",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the mug without touching the body",
+                "stabilize the mug while pouring",
+                "help orient the mug"
+            ],
+            "semantic_description": "Curved transparent glass handle with a smooth glossy surface, medium thickness, and side-mounted loop form sized for gripping beside the mug body.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.7979788780212402,
+                    "position": [
+                        0.03621870878851041,
+                        0.12545707204844803,
+                        0.024380651768296957
+                    ],
+                    "orientation": {
+                        "w": 0.11473054779762432,
+                        "xyz": [
+                            -0.11880411002601868,
+                            -0.7021205662860686,
+                            0.6926392966336178
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug rim",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define the drinking edge",
+                "provide opening boundary",
+                "support sipping",
+                "help contain liquid near the top"
+            ],
+            "semantic_description": "Thin circular transparent glass rim with a smooth glossy finish, forming the narrow top edge around the mug opening.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug interior",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold beverage",
+                "provide drinking cavity",
+                "contain liquid volume"
+            ],
+            "semantic_description": "Smooth transparent glass interior cavity recessed inside the mug opening, with a clean rounded shape visible through the clear walls.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/652b7e327ef955ccb7a136c7ed1fe728/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc3d2e7a3939e7f2ae12adc8c7053dcb81cf82eaae045da16a99d529435dcc34
+size 3781544