Add asset kitchen_supplies/ware/75fdc08c932955239d6280ae459856e1

.gitattributes

@@ -7581,4 +7581,5 @@ dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/affordance/mesh_p
 dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/75dc2b4d947d57dbac115180f1b21868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/75fdc08c932955239d6280ae459856e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/75fdc08c932955239d6280ae459856e1/affordance/affordance_annot.json

@@ -0,0 +1,147 @@
+{
+    "affordances": [
+        {
+            "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 stabilize and reorient the mug",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "pull the mug slightly across a surface by the handle",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the mug without touching the body",
+                "stabilize the mug during pouring",
+                "help reorient the mug"
+            ],
+            "semantic_description": "Small curved loop handle on the mug side, light blue glossy ceramic with a hard smooth surface and rounded profile, attached near the upper and mid body.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.8890092968940735,
+                    "position": [
+                        0.13812468806281686,
+                        0.01069855858804658,
+                        -0.014152385527268052
+                    ],
+                    "orientation": {
+                        "w": 0.6414968599962156,
+                        "xyz": [
+                            0.3861550990445651,
+                            -0.36679134975031136,
+                            -0.5521142307939747
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.8350527286529541,
+                    "position": [
+                        0.0982310832478106,
+                        0.005642280739266425,
+                        -0.07651969441212714
+                    ],
+                    "orientation": {
+                        "w": 0.6713462783318584,
+                        "xyz": [
+                            -0.11483482535151,
+                            -0.17532768435357127,
+                            0.7108919331063377
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8283933997154236,
+                    "position": [
+                        0.13797767320647836,
+                        -0.012599300767760724,
+                        -0.009377594338729978
+                    ],
+                    "orientation": {
+                        "w": 0.5237559406133094,
+                        "xyz": [
+                            0.3586504359999349,
+                            -0.4163507773151477,
+                            -0.6509236588559341
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.7728738784790039,
+                    "position": [
+                        0.13283157208934426,
+                        -0.0018591691623441875,
+                        -0.019175283843651414
+                    ],
+                    "orientation": {
+                        "w": 0.5464456004213082,
+                        "xyz": [
+                            0.3718875391340662,
+                            -0.3062099883914995,
+                            -0.6850783218189599
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mug body from the sides to pick it up",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the body to place or reposition the mug on a surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "stabilize the mug body while another gripper uses the handle",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide the main structure",
+                "support placement on a surface",
+                "provide a grasp surface",
+                "form the drinking rim"
+            ],
+            "semantic_description": "Tapered cylindrical mug body, light blue glossy ceramic with a hard smooth surface, medium-sized and hollow with a rounded base and plain unmarked exterior.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_36": {
+                    "confidence": 0.8426177501678467,
+                    "position": [
+                        -0.001934938773047179,
+                        0.0022408427321352065,
+                        -0.1279785002116114
+                    ],
+                    "orientation": {
+                        "w": 0.6841216266652631,
+                        "xyz": [
+                            0.011490326440367757,
+                            0.0031384114347468017,
+                            0.7292706786240852
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/75fdc08c932955239d6280ae459856e1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98532f3ae79f8c17b9f0ab263230963eb06589953914f0abff4ff8be660aaa4f
+size 3778476