Add asset kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6

.gitattributes

@@ -7586,4 +7586,4 @@ dataset/kitchen_supplies/ware/75fdc08c932955239d6280ae459856e1/affordance/mesh_p
 dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/76f7859e87055a3181fdfea383711702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/affordance/affordance_annot.json

@@ -0,0 +1,179 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mug body from the sides to pick up the mug",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the mug body to stabilize it during placement or transport",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the body near the rim to reorient the mug on a table",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide the main structure",
+                "support the handle",
+                "offer a main grasp surface",
+                "stand upright on its base"
+            ],
+            "semantic_description": "Large tapered orange ceramic mug body with a glossy reflective finish and hard smooth surface, forming the main cup volume with a white script logo near the lower side and a light gray circular base.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.93557208776474,
+                    "position": [
+                        -0.09678305801935494,
+                        0.010107243317179382,
+                        -0.08217685273848474
+                    ],
+                    "orientation": {
+                        "w": 0.6441961642162549,
+                        "xyz": [
+                            0.37814880332114287,
+                            0.33445535509170665,
+                            0.5745906368940691
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9353165626525879,
+                    "position": [
+                        -0.001869909930974245,
+                        0.0006884026224724948,
+                        -0.12488464615307748
+                    ],
+                    "orientation": {
+                        "w": 0.6490335037418934,
+                        "xyz": [
+                            0.0020433190230924178,
+                            0.011181161161916808,
+                            -0.7606749092108684
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9346946477890015,
+                    "position": [
+                        0.010070625459775329,
+                        -0.0012804089346900582,
+                        -0.12591279647313058
+                    ],
+                    "orientation": {
+                        "w": 0.7497650468429347,
+                        "xyz": [
+                            -0.019373157581862945,
+                            -0.02236034263409936,
+                            0.6610424119337626
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9343107342720032,
+                    "position": [
+                        -0.006558784982189536,
+                        0.001609227154403925,
+                        -0.12340020737610757
+                    ],
+                    "orientation": {
+                        "w": 0.7016342073762534,
+                        "xyz": [
+                            0.011714454678063733,
+                            -0.004590253926907595,
+                            0.7124262348903072
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9331378936767578,
+                    "position": [
+                        -0.10203995672054589,
+                        0.010758302989415824,
+                        -0.07254521152935922
+                    ],
+                    "orientation": {
+                        "w": 0.6014979976128902,
+                        "xyz": [
+                            -0.3242191268273411,
+                            0.406108021429867,
+                            -0.6067605718875597
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9331292510032654,
+                    "position": [
+                        -0.002279010834172368,
+                        0.0013902176870033145,
+                        -0.12180519453249872
+                    ],
+                    "orientation": {
+                        "w": 0.6275349312513288,
+                        "xyz": [
+                            0.010272871831828175,
+                            0.0014508958322893006,
+                            -0.7785192823976814
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the mug",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to stabilize and rotate the mug while pouring",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hook or pinch the handle to pull the mug closer",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the mug without enclosing the body",
+                "stabilize the mug while pouring",
+                "help reorient the mug"
+            ],
+            "semantic_description": "Medium-sized curved orange ceramic handle with a glossy finish and hard smooth texture, attached to the mug side as a loop for side gripping and pulling.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.2614224851131439,
+                    "position": [
+                        0.10552414390258491,
+                        0.055829590070061386,
+                        0.05492166825570166
+                    ],
+                    "orientation": {
+                        "w": 0.5404153925546902,
+                        "xyz": [
+                            0.2724083543994797,
+                            -0.7764639909723621,
+                            0.17563758899107867
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11fd6bb4766530bab39eb372ebdf64643a65a2ab8246cec3ef6cad240a3d14a4
+size 3778432