Add asset kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c

.gitattributes

@@ -8522,3 +8522,4 @@ dataset/kitchen_supplies/ware/f15f6a2ab9fb5ee6ae52efd6bf4dc663/affordance/mesh_p
 dataset/kitchen_supplies/ware/f471d3b4491656c8aa184006ee17be71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/affordance/affordance_annot.json

@@ -0,0 +1,206 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the mug",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the handle to stabilize the mug while pouring",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hook or pinch the handle to rotate the mug orientation",
+                    "confidence": 0.81
+                }
+            ],
+            "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 off-white to gray glossy metal handle with a hard smooth surface, medium thickness, attached to the mug side and sized for secure side gripping.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mug body from the sides to pick it up",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the body to stabilize the mug during placement",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the body when the handle is inaccessible",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "contain liquids",
+                "support the mug structure",
+                "provide a main contact surface",
+                "present decorative graphics"
+            ],
+            "semantic_description": "White glossy enamel-coated metal cup body with a hard smooth surface, cylindrical and slightly tapered, forming most of the mug volume and showing blue floral printed graphics on one side.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.7974762320518494,
+                    "position": [
+                        -0.015715115936473012,
+                        -0.012673915014602244,
+                        -0.10971962264738977
+                    ],
+                    "orientation": {
+                        "w": 0.23724889808856892,
+                        "xyz": [
+                            0.04551336934384007,
+                            0.03673052526845244,
+                            0.9696867339920837
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.7780830264091492,
+                    "position": [
+                        -0.0043933766428381205,
+                        0.002483762917108834,
+                        -0.1076540385838598
+                    ],
+                    "orientation": {
+                        "w": 0.9995909550990242,
+                        "xyz": [
+                            -0.005666368494630306,
+                            0.015040323297112246,
+                            -0.023655938523391127
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.7641655802726746,
+                    "position": [
+                        -0.0044035029131919146,
+                        -0.0011314587900415063,
+                        -0.11107915989123285
+                    ],
+                    "orientation": {
+                        "w": 0.23276805283496685,
+                        "xyz": [
+                            0.02126561284448328,
+                            0.008964784795480796,
+                            0.9722584223977375
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.7585877776145935,
+                    "position": [
+                        -0.0021986052161082625,
+                        -0.0046078452141955495,
+                        -0.10622058412991464
+                    ],
+                    "orientation": {
+                        "w": 0.997496111310032,
+                        "xyz": [
+                            -0.007038329036865911,
+                            0.0013913484756054029,
+                            0.07035647798996844
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.7523913979530334,
+                    "position": [
+                        -0.0005244886197033338,
+                        -0.004564210423268378,
+                        -0.109864387428388
+                    ],
+                    "orientation": {
+                        "w": 0.957176794437081,
+                        "xyz": [
+                            -0.005986394901591726,
+                            0.007375585744050728,
+                            -0.2893481432499069
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.7519583702087402,
+                    "position": [
+                        0.0011164875468239188,
+                        -0.005201973137445748,
+                        -0.10616566590033472
+                    ],
+                    "orientation": {
+                        "w": 0.1818119876640665,
+                        "xyz": [
+                            0.004882437288371595,
+                            0.012725053421196564,
+                            0.9832388499053495
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.7483025193214417,
+                    "position": [
+                        1.4473916962742805e-05,
+                        -0.002869701129384339,
+                        -0.1143175249453634
+                    ],
+                    "orientation": {
+                        "w": 0.2624606264856026,
+                        "xyz": [
+                            0.014327098204391939,
+                            0.0073397033945500345,
+                            0.9648084175399314
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug rim",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define the drinking edge",
+                "stiffen the opening",
+                "help contain liquid at the top",
+                "provide lip contact surface"
+            ],
+            "semantic_description": "Thin dark gray glossy metal rim with a hard smooth rounded edge encircling the mug opening at the top.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug interior",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold liquid contents",
+                "provide drinking cavity",
+                "contain ingredients during filling"
+            ],
+            "semantic_description": "White glossy interior cavity with a hard smooth enamel-like surface, recessed inside the mug and forming the liquid-holding basin beneath the rim.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76fa19a9c977b3b49f34131b2933459029490c78f94f54dc3f1e874083c4dd8c
+size 3782196