Add asset kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65

.gitattributes

@@ -7575,4 +7575,4 @@ dataset/kitchen_supplies/ware/652b7e327ef955ccb7a136c7ed1fe728/affordance/mesh_p
 dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6691f420da4a59ad910a57488483b9bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6835485fe5f559dbb64ae2f38e3b9868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/68cca1d325dc50b5b90392c981d02694/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/affordance/affordance_annot.json

@@ -0,0 +1,130 @@
+{
+    "affordances": [
+        {
+            "part_name": "saucer",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the saucer edge to pick up the cup-and-saucer set from below the cup",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the saucer rim to stabilize the set during transport",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "support the cup",
+                "catch drips",
+                "provide a stable base",
+                "serve as a carrying surface"
+            ],
+            "semantic_description": "Flat round white ceramic saucer with a glossy smooth hard surface, broad and shallow beneath the cup, with small printed logo markings visible on top.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_14": {
+                    "confidence": 0.7334484457969666,
+                    "position": [
+                        -0.031289653707062826,
+                        -0.10807955241762102,
+                        -0.08672948693856597
+                    ],
+                    "orientation": {
+                        "w": 0.7241332550853344,
+                        "xyz": [
+                            -0.26131587512459825,
+                            0.35287428877166926,
+                            0.5318127288917329
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cup body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to lift the cup when empty or lightly filled",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the cup body to stabilize it while placing on the saucer",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "contain coffee",
+                "form the main vessel",
+                "support pouring from the rim",
+                "provide structural body"
+            ],
+            "semantic_description": "Tapered white ceramic cup body with a glossy smooth hard surface, medium-sized and centered on the saucer, with a flared rim and dark coffee visible inside.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.7959718704223633,
+                    "position": [
+                        0.08062361754127778,
+                        -0.05078269145451486,
+                        0.09373996639624238
+                    ],
+                    "orientation": {
+                        "w": 0.392412004137856,
+                        "xyz": [
+                            -0.7810457305791845,
+                            -0.4277620089307367,
+                            0.2302173961022064
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.7378697991371155,
+                    "position": [
+                        0.10578802056261338,
+                        -0.04762255749665201,
+                        0.012727889697998762
+                    ],
+                    "orientation": {
+                        "w": 0.630827529247677,
+                        "xyz": [
+                            -0.5687883808779954,
+                            -0.3656920424019786,
+                            0.38053348899318806
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the cup safely",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the handle to stabilize the cup while moving or repositioning it on the saucer",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the cup without squeezing the body",
+                "help control orientation",
+                "reduce contact with hot cup walls"
+            ],
+            "semantic_description": "Small curved white ceramic handle with a glossy smooth hard surface, attached to the cup side as a loop sized for side gripping.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd500ba94883702cbd61e9d8dd0879fe44519e449d178206345a223d5bfcc8c9
+size 3779836