Add asset kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00

.gitattributes

@@ -7610,4 +7610,5 @@ dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/affordance/mesh_p
 dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/affordance/affordance_annot.json

@@ -0,0 +1,144 @@
+{
+    "affordances": [
+        {
+            "part_name": "teacup handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the cup",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the handle to stabilize the cup while placing it down or reorienting it",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the cup without touching the bowl",
+                "stabilize during pouring or repositioning",
+                "indicate side orientation"
+            ],
+            "semantic_description": "Small ornate curved gold-colored handle, likely glazed ceramic, with a glossy reflective hard smooth surface attached to the cup side near mid-height.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_17": {
+                    "confidence": 0.8640921115875244,
+                    "position": [
+                        -0.08272231090813875,
+                        -0.017783330171369016,
+                        0.13137756068317685
+                    ],
+                    "orientation": {
+                        "w": 0.1827301281175669,
+                        "xyz": [
+                            -0.04366511678013558,
+                            0.9789407198343585,
+                            0.07986316362944976
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8500307202339172,
+                    "position": [
+                        -0.08892593253403902,
+                        -0.024609866901300848,
+                        0.12742642838566098
+                    ],
+                    "orientation": {
+                        "w": 0.22600860512463655,
+                        "xyz": [
+                            -0.05405699704979965,
+                            0.9665856545386856,
+                            0.10821332597972508
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cup interior",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold liquid",
+                "provide drinking cavity",
+                "contain contents"
+            ],
+            "semantic_description": "Wide white glazed ceramic inner bowl with a glossy smooth hard surface, occupying the open top and tapering downward inside the cup.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cup body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to pick up the cup",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the body to stabilize the cup while the handle is inaccessible",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "contain beverage",
+                "form the main vessel wall",
+                "provide structural support",
+                "present decorative exterior"
+            ],
+            "semantic_description": "Tapered cobalt-blue ceramic cup wall with a glossy smooth hard finish, medium-sized and flaring toward the rim, decorated with gold floral motifs and trim around the exterior.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "footed base",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base rim to lift or reposition the empty cup from below",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch the base to stabilize the cup during precise placement",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "support upright standing",
+                "elevate the cup body",
+                "provide contact surface with the table",
+                "improve stability"
+            ],
+            "semantic_description": "Small round gold-colored foot ring at the bottom, likely glazed ceramic, with a glossy smooth hard surface and slightly raised pedestal-like shape.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_54": {
+                    "confidence": 0.20344583690166473,
+                    "position": [
+                        0.07366243284195662,
+                        -0.02247767650987953,
+                        -0.14837268214614596
+                    ],
+                    "orientation": {
+                        "w": 0.760234967091101,
+                        "xyz": [
+                            0.05914261774282671,
+                            -0.23014860700466822,
+                            -0.6046292783783539
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59402506245164eaedd7c40cee576202012ad41826d5bf28a1b0fa4c13df20a7
+size 1679120