Add asset kitchen_supplies/ware/e2a61cad4e9b52d8a559b5f5060c5a12

.gitattributes

@@ -8499,4 +8499,4 @@ dataset/kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015/affordance/me
 dataset/kitchen_supplies/ware/e13ddfabc3eb5c218a67a5a2d99f3859/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/e272bcb77e0c56a7a9f2a7d6804c5a36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/e19c9a4e5cc85356a8dbb9e0919ddf94/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/e2a61cad4e9b52d8a559b5f5060c5a12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/e2a61cad4e9b52d8a559b5f5060c5a12/affordance/affordance_annot.json

@@ -0,0 +1,161 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug rim and interior",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide drinking opening",
+                "allow liquid access",
+                "define fill boundary",
+                "support pouring from the lip"
+            ],
+            "semantic_description": "Open top and inner cup surface in light gray ceramic with a smooth glossy hard finish, forming a circular rim at the mug's upper opening.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mug body from the sides to pick up the mug",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the body to stabilize the mug during placement",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "grasp the body while the handle is inaccessible",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main structure",
+                "support standing on a surface",
+                "main grasp surface"
+            ],
+            "semantic_description": "Large tapered cylindrical light gray ceramic body with a glossy smooth hard surface, forming the main cup volume and base with no visible markings.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.5572502017021179,
+                    "position": [
+                        0.0792014196049422,
+                        -0.054308006539940834,
+                        0.12206713436171412
+                    ],
+                    "orientation": {
+                        "w": 0.19694107051653942,
+                        "xyz": [
+                            0.5010267233132408,
+                            -0.7978190918932032,
+                            -0.27142426914426954
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.45122066140174866,
+                    "position": [
+                        0.0033071257639676332,
+                        0.04813341610133648,
+                        0.13091046689078212
+                    ],
+                    "orientation": {
+                        "w": 0.25497422604795644,
+                        "xyz": [
+                            0.966631407542058,
+                            -0.020101933388348647,
+                            -0.014414516244246422
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.35453832149505615,
+                    "position": [
+                        0.07491560722701252,
+                        -0.043226949870586395,
+                        0.11818167148157954
+                    ],
+                    "orientation": {
+                        "w": 0.25203297612902975,
+                        "xyz": [
+                            -0.7631564694586843,
+                            -0.5555925117204668,
+                            0.21304587061720687
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the mug",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the handle to stabilize and reorient the mug",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "pull the mug slightly by the handle across a surface",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the mug without enclosing the body",
+                "stabilize the mug while moving",
+                "help orient the mug"
+            ],
+            "semantic_description": "Curved rectangular-loop light gray ceramic handle with a glossy smooth hard surface, medium-sized and attached to the mug's side for side gripping.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.5141660571098328,
+                    "position": [
+                        0.02559388312511146,
+                        0.10840972326695919,
+                        -0.07563215168192983
+                    ],
+                    "orientation": {
+                        "w": 0.20051996833022687,
+                        "xyz": [
+                            -0.055215484267726656,
+                            -0.2600167002623869,
+                            0.9429391858346884
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.06581520289182663,
+                    "position": [
+                        -0.09521939163096249,
+                        0.06371640227735043,
+                        -0.00358854909427464
+                    ],
+                    "orientation": {
+                        "w": 0.7412337084425054,
+                        "xyz": [
+                            0.04346195487935417,
+                            0.6656885520688287,
+                            -0.07444729404849285
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/e2a61cad4e9b52d8a559b5f5060c5a12/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01e97b92dfcb16533a907369fb0c56317b6c424470ef5caffb80cdfeeeca0ed5
+size 687340