Add asset kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932

.gitattributes

@@ -7563,4 +7563,4 @@ dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/mesh_p
 dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5bce7ce993595dedb49bd8fe4857d506/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/affordance/affordance_annot.json

@@ -0,0 +1,145 @@
+{
+    "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": 0.8
+                },
+                {
+                    "scenario": "hold the body to stabilize the mug during placement",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the body while the handle is inaccessible",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main structure",
+                "support side grasping",
+                "present drinking opening",
+                "support the handle"
+            ],
+            "semantic_description": "Large dark green ceramic mug body with a glossy hard smooth surface, vertically fluted tapered cylindrical shape, and the main cup volume forming the sides and rim.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9433992505073547,
+                    "position": [
+                        -0.1027725538588129,
+                        0.004333957651397213,
+                        -0.06750241160625592
+                    ],
+                    "orientation": {
+                        "w": 0.5866691653352748,
+                        "xyz": [
+                            -0.35076126362406007,
+                            0.3820220866366667,
+                            -0.6219686099052201
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.937461793422699,
+                    "position": [
+                        -0.005608544161077589,
+                        0.0011942336277570575,
+                        -0.12111672997707501
+                    ],
+                    "orientation": {
+                        "w": 0.782491916238187,
+                        "xyz": [
+                            0.01327986253813245,
+                            0.01100242816271546,
+                            0.622421876902943
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9354583024978638,
+                    "position": [
+                        0.0022450239048339427,
+                        -0.0024143675400409847,
+                        -0.1198778995894827
+                    ],
+                    "orientation": {
+                        "w": 0.5649420609800793,
+                        "xyz": [
+                            0.007269928895020867,
+                            0.005351844264981143,
+                            -0.8250811921456005
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9349272847175598,
+                    "position": [
+                        -0.0002066248853225261,
+                        -0.002151205117115751,
+                        -0.12027478456730023
+                    ],
+                    "orientation": {
+                        "w": 0.7354624996266355,
+                        "xyz": [
+                            0.012598502000805768,
+                            0.001804394579731139,
+                            0.6774458897583467
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the mug",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the handle to stabilize and reorient the mug",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "pull or slide the mug slightly by the handle",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the mug without enclosing the body",
+                "stabilize the mug while moving",
+                "help orient the mug"
+            ],
+            "semantic_description": "Curved dark green ceramic handle with a glossy hard smooth finish, medium thickness, and an open loop attached to the mug side near the rim and upper body.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug base ring",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the mug on a surface",
+                "stabilize standing placement",
+                "protect the lower edge",
+                "provide contact rim"
+            ],
+            "semantic_description": "Thin light beige ceramic base ring with a smooth slightly glossy hard surface, encircling the mug bottom as a narrow foot at the lowest edge.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b15a4895aa56fbba6853844efddf163c205bb793e588822b3f8dd6cde6d88cbc
+size 3779836