Add asset kitchen_supplies/ware/611519fdfedd5d309da7e5235d0b2e62

.gitattributes

@@ -7569,4 +7569,4 @@ dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/affordance/mesh_p
 dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/611519fdfedd5d309da7e5235d0b2e62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/611519fdfedd5d309da7e5235d0b2e62/affordance/affordance_annot.json

@@ -0,0 +1,183 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup interior",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain liquid",
+                "hold beverage volume",
+                "provide drinking opening"
+            ],
+            "semantic_description": "Shallow rounded inner cavity with a glossy smooth pink ceramic surface, medium-sized and recessed at the top opening of the cup.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cup body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to pick up the cup",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the body to stabilize the cup during placement",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain beverage",
+                "support the cup structure",
+                "provide main exterior grasp surface",
+                "rest on a table"
+            ],
+            "semantic_description": "Large bulbous light pink ceramic body with a glossy smooth hard surface, forming most of the cup and including the rounded sides and bottom.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.9808432459831238,
+                    "position": [
+                        -0.09685126721160486,
+                        -0.015930616995319724,
+                        -0.04069619032088667
+                    ],
+                    "orientation": {
+                        "w": 0.5981122042243512,
+                        "xyz": [
+                            0.32568907702953975,
+                            0.4321068990181476,
+                            0.5911616057242338
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9793518781661987,
+                    "position": [
+                        -0.08808922051684931,
+                        0.014993344666436315,
+                        0.061914326972328126
+                    ],
+                    "orientation": {
+                        "w": 0.2794846638316859,
+                        "xyz": [
+                            -0.6097675002741575,
+                            0.6291912272781909,
+                            -0.3926707498763547
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9780392050743103,
+                    "position": [
+                        -0.0893794748117216,
+                        0.012081247055903077,
+                        0.05598460731562227
+                    ],
+                    "orientation": {
+                        "w": 0.39396492159268653,
+                        "xyz": [
+                            0.6172709848185904,
+                            0.6125985458217075,
+                            0.2974746939030033
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9768468737602234,
+                    "position": [
+                        -0.09469905524747446,
+                        0.016995696583762765,
+                        -0.04003751801792532
+                    ],
+                    "orientation": {
+                        "w": 0.6777993083891564,
+                        "xyz": [
+                            0.40155998097266155,
+                            0.3582837009219809,
+                            0.5009695288957852
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the cup",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the handle to stabilize and reorient the cup",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the cup without squeezing the body",
+                "help reorient the cup"
+            ],
+            "semantic_description": "Small looped light pink ceramic handle with a glossy smooth hard finish, attached to the side of the cup and sized for side gripping.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.5372679829597473,
+                    "position": [
+                        0.1236550358007662,
+                        0.0035691300872713327,
+                        0.026692519313655794
+                    ],
+                    "orientation": {
+                        "w": 0.6193292938469124,
+                        "xyz": [
+                            0.021839397495641545,
+                            -0.7847142584876947,
+                            0.013334130126076225
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.43350598216056824,
+                    "position": [
+                        0.11495330155594274,
+                        -0.014307851670309901,
+                        0.04766827670391649
+                    ],
+                    "orientation": {
+                        "w": 0.5301448777882422,
+                        "xyz": [
+                            0.08081687456862646,
+                            -0.8356028341936912,
+                            -0.11909216946263977
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.4258762001991272,
+                    "position": [
+                        0.12619799346430227,
+                        -0.024819930782541633,
+                        0.0012473516399040818
+                    ],
+                    "orientation": {
+                        "w": 0.14922153502536004,
+                        "xyz": [
+                            -0.7094616858836172,
+                            0.04655150057691004,
+                            0.6871899355650437
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/611519fdfedd5d309da7e5235d0b2e62/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3340bdd0c3837694e7f3b689d4f713366d198e2b02d5df2d9ea44b06116f20e7
+size 3780368