Add asset kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091

.gitattributes

@@ -7565,4 +7565,5 @@ dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/affordance/mesh_p
 dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5c446c0ebe1b5b3bb6b2bb2000bdf962/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5ce46fe01bd655359d018bf28776016f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/affordance/affordance_annot.json

@@ -0,0 +1,244 @@
+{
+    "affordances": [
+        {
+            "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": 0.78
+                },
+                {
+                    "scenario": "hold the body to stabilize the cup while placing it down",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main structure",
+                "support side grasping",
+                "support the handle attachment"
+            ],
+            "semantic_description": "Large tapered gray ceramic cup body with a smooth matte-to-satin hard surface, cylindrical shape, and a small white printed logo on the exterior near the lower side.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.8362098336219788,
+                    "position": [
+                        -0.0015501257148571312,
+                        -0.01000807317905128,
+                        -0.11906045791693032
+                    ],
+                    "orientation": {
+                        "w": 0.9995787903471578,
+                        "xyz": [
+                            -0.005550868372436699,
+                            0.00872651458780338,
+                            0.027116004343812252
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.8230559825897217,
+                    "position": [
+                        -0.004939897859003395,
+                        0.0007098009809851646,
+                        -0.11479750392027199
+                    ],
+                    "orientation": {
+                        "w": 0.9996523098692249,
+                        "xyz": [
+                            -0.013900291821953374,
+                            0.015221582653776378,
+                            -0.01644216171620717
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.8180242776870728,
+                    "position": [
+                        4.7097448259592056e-05,
+                        -0.008142330450937152,
+                        0.11106783035211265
+                    ],
+                    "orientation": {
+                        "w": 0.030630285480091012,
+                        "xyz": [
+                            -0.9976382331168344,
+                            -0.06144071481170629,
+                            -0.0021863207348310964
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.8156117796897888,
+                    "position": [
+                        -0.0019503605435602367,
+                        -0.007748390315100551,
+                        -0.12238364783115685
+                    ],
+                    "orientation": {
+                        "w": 0.9998406208073256,
+                        "xyz": [
+                            -0.006891370978940173,
+                            0.009777420232573442,
+                            -0.01325307674647396
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the cup",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the handle to stabilize and reorient the cup",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the cup without touching the hot body",
+                "stabilize the cup during pouring",
+                "aid orientation"
+            ],
+            "semantic_description": "Curved gray ceramic handle with a smooth hard satin surface, medium thickness, and looped side position attached to the cup body.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.7723378539085388,
+                    "position": [
+                        0.006009401346091181,
+                        0.14534957171417773,
+                        -0.004720945144072175
+                    ],
+                    "orientation": {
+                        "w": 0.5174976584644587,
+                        "xyz": [
+                            0.5120401730005192,
+                            0.4652340858097729,
+                            -0.5035556375596898
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.7698494791984558,
+                    "position": [
+                        -0.002840781060513109,
+                        0.14729414344765246,
+                        0.0015536558639723808
+                    ],
+                    "orientation": {
+                        "w": 0.5189567518613973,
+                        "xyz": [
+                            0.4997444024595748,
+                            0.5001039440069183,
+                            -0.4804533974242621
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.7557786107063293,
+                    "position": [
+                        0.011206149647478014,
+                        0.13813131512142718,
+                        -0.0019858325831592083
+                    ],
+                    "orientation": {
+                        "w": 0.5108255289937725,
+                        "xyz": [
+                            0.44312012086310043,
+                            -0.5373009525840955,
+                            0.503993575124453
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.7163019180297852,
+                    "position": [
+                        -0.015184680407401174,
+                        0.14604867459274828,
+                        0.013786468422040343
+                    ],
+                    "orientation": {
+                        "w": 0.4492263216035966,
+                        "xyz": [
+                            0.5341992672811255,
+                            -0.4888370325860255,
+                            0.5233213261346221
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.715797483921051,
+                    "position": [
+                        -0.014260502008255571,
+                        0.1388087070081383,
+                        0.0004925676039420068
+                    ],
+                    "orientation": {
+                        "w": 0.5789693751790401,
+                        "xyz": [
+                            0.5263215800702191,
+                            0.47338749984593353,
+                            -0.404579203552032
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "coffee surface",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold beverage content",
+                "provide drinkable liquid surface",
+                "indicate fill level"
+            ],
+            "semantic_description": "Dark brown to nearly black liquid surface with a smooth glossy appearance, sitting recessed inside the cup opening with a thin lighter brown ring near the rim.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base ring",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support contact edge",
+                "stabilize the cup when set down",
+                "slightly elevate the bottom surface"
+            ],
+            "semantic_description": "Thin circular gray ceramic foot ring with a smooth hard finish, running around the outer perimeter of the cup bottom.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom of cup",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support resting on surfaces",
+                "form the underside base",
+                "close the vessel bottom"
+            ],
+            "semantic_description": "Flat circular unglazed-looking light beige ceramic bottom with a matte hard surface, centered on the underside and slightly inset within the foot ring.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d21f8566bfd8311394f2fd06ee62033a14a2d9a523395a28c211ce78d0aa0666
+size 3782040