Add asset kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc

.gitattributes

@@ -7536,4 +7536,4 @@ dataset/kitchen_supplies/ware/326edbaca63657608eabc43a8aa3f7c4/affordance/mesh_p
 dataset/kitchen_supplies/ware/32fe4efa41575b178eb6b0ecd59f88ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3425f984850d54e2966a7ff035633f70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/34c4f3a5b7a35e1ab98a5c5b660c2257/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/affordance/affordance_annot.json

@@ -0,0 +1,117 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall to pick up the empty or lightly filled cup",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the sidewall to stabilize the cup during placement",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp the sidewall while aligning the cup under a dispenser",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main grasp surface",
+                "support the rim",
+                "form the cup structure",
+                "stabilize while standing"
+            ],
+            "semantic_description": "Main tapered yellow cup wall made of thin plastic or coated paper, with a slightly glossy smooth hard surface, large size, and wrapping around the sides between the rim and base.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.24605882167816162,
+                    "position": [
+                        -0.01603373695979826,
+                        -0.1179413014324382,
+                        -0.05217242035723757
+                    ],
+                    "orientation": {
+                        "w": 0.6650149626315127,
+                        "xyz": [
+                            -0.7433829924530464,
+                            0.030682151947915348,
+                            -0.06477215111146732
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cup rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rim to reorient or separate a lightweight cup",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "hold the rim briefly to steady the cup during placement",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "provide drinking edge",
+                "stiffen the opening",
+                "define top opening",
+                "support stacking or separation"
+            ],
+            "semantic_description": "Thin circular yellow rolled rim with a slightly glossy smooth hard finish, running around the top edge as a narrow raised lip.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner cavity",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold liquid",
+                "receive contents",
+                "define fill volume",
+                "guide pouring from the opening"
+            ],
+            "semantic_description": "Open interior of the yellow cup, appearing light yellow inside with a smooth hard finish and concave cylindrical cavity occupying the top central volume.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cup base",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom edge to invert or reorient the cup",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "pinch the base area to pick up an upside-down empty cup",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "support standing",
+                "close the bottom",
+                "bear load of contents",
+                "provide contact surface on a table"
+            ],
+            "semantic_description": "Flat circular yellow bottom panel made of the same thin hard material, with a smooth slightly glossy surface, small relative size, and centered at the base of the cup.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99324f047992a59f6ea638ffb6aa51b3bd11d2a22f2372d4a987b06e7477ae5
+size 2611600