Add asset kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d

.gitattributes

@@ -7597,4 +7597,4 @@ dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/affordance/mesh_p
 dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/91ab119347dd56b098c1f553e824e907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/affordance/affordance_annot.json

@@ -0,0 +1,188 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to pick up the empty cup",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the body to stabilize the cup during placement or inspection",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide the main structural shell",
+                "support side grasping",
+                "connect handle, rim, and base"
+            ],
+            "semantic_description": "Tapered light blue ceramic body with a glossy hard smooth surface, medium size, forming the main side wall of the cup and decorated with a gold lattice pattern.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_27": {
+                    "confidence": 0.9815455079078674,
+                    "position": [
+                        -0.10647100594360381,
+                        -0.023187472950667143,
+                        -0.031813620356842875
+                    ],
+                    "orientation": {
+                        "w": 0.49175970626423127,
+                        "xyz": [
+                            0.3967791697055147,
+                            0.47745055515136814,
+                            0.6105568353301511
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.9811372756958008,
+                    "position": [
+                        -0.010469791595824063,
+                        -0.0021531737875193357,
+                        -0.11569035309366882
+                    ],
+                    "orientation": {
+                        "w": 0.7780426659548012,
+                        "xyz": [
+                            -0.023352505822413407,
+                            0.016229902322850154,
+                            -0.6275674152601856
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9806933999061584,
+                    "position": [
+                        -0.0026916135102510452,
+                        0.0025216195499524474,
+                        -0.1138733874540776
+                    ],
+                    "orientation": {
+                        "w": 0.649373299703883,
+                        "xyz": [
+                            0.007929936119047342,
+                            -0.007691182984136402,
+                            0.7603895576933861
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.9797171950340271,
+                    "position": [
+                        -0.1093777158530429,
+                        -0.00996996695175767,
+                        0.001363643677905202
+                    ],
+                    "orientation": {
+                        "w": 0.47396033310747265,
+                        "xyz": [
+                            0.4743398735701596,
+                            0.5190154254523297,
+                            0.530081385378355
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cup interior",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold beverage volume",
+                "provide drinking cavity",
+                "receive poured liquid"
+            ],
+            "semantic_description": "White glossy ceramic interior with a hard smooth finish, forming the open upper cavity of the cup and appearing clean and unmarked.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the cup",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the handle to stabilize the cup while pouring",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the cup without squeezing the body",
+                "stabilize the cup during pouring"
+            ],
+            "semantic_description": "Curved light tan or gold-toned ceramic handle with a glossy hard smooth surface, attached to the cup side and sized for a secure side grip.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.5634962320327759,
+                    "position": [
+                        0.09986458334606141,
+                        -0.0664147580973804,
+                        0.007578575285151601
+                    ],
+                    "orientation": {
+                        "w": 0.2214826719156387,
+                        "xyz": [
+                            -0.6677761973194062,
+                            0.2834296126332454,
+                            0.6516809273082275
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cup base",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grip the base area from below during pick-and-place when the cup is upside down or empty",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "stabilize the cup by contacting the bottom during reorientation",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "support upright placement",
+                "provide bottom contact surface",
+                "stabilize the vessel structure"
+            ],
+            "semantic_description": "Flat circular white ceramic bottom with a glossy hard smooth finish, located at the underside of the cup and slightly smaller than the upper opening.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define the drinking edge",
+                "stiffen the cup opening",
+                "guide pouring from the lip"
+            ],
+            "semantic_description": "Thin gold-toned glossy ceramic ring around the top edge, hard and smooth, encircling the opening as a narrow reinforced drinking lip.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/94435b98bf815476b6ed68e6bdf4b78d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7347df0bea4264f90d1d80412a5c06f9f472c5927ac369276906fc84544c0d3
+size 3782920