Add asset food/beverages/69ec6c676d4b57ffafe05f31407a14a6

.gitattributes

@@ -6723,3 +6723,4 @@ dataset/food/beverages/647cf35e29ec5565a4eccfa4b2e1e528/affordance/mesh_part_seg
 dataset/food/beverages/68ba87cdcd7c5733b5d521b040ed33ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/692025f909a651f788746dcaf32e6cc3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/69ec6c676d4b57ffafe05f31407a14a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/beverages/69ec6c676d4b57ffafe05f31407a14a6/affordance/affordance_annot.json

@@ -0,0 +1,250 @@
+{
+    "affordances": [
+        {
+            "part_name": "can body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cylindrical sidewall to pick up the can",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body to stabilize the can while opening the tab",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the body for transport and placement",
+                    "confidence": 0.96
+                }
+            ],
+            "functional_labels": [
+                "contain the beverage",
+                "main grasp surface",
+                "support printed branding and information",
+                "provide structural shell"
+            ],
+            "semantic_description": "Large cylindrical red-and-white aluminum can body with a glossy smooth hard surface, printed Coca-Cola graphics and cherries, forming nearly the entire sidewall of the can.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.6932846307754517,
+                    "position": [
+                        0.01069800931145437,
+                        0.11041953577660024,
+                        -0.015635301358997822
+                    ],
+                    "orientation": {
+                        "w": 0.052259785469390356,
+                        "xyz": [
+                            -0.008357741937925172,
+                            -0.7571706520036078,
+                            0.6510696327711983
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.6530777812004089,
+                    "position": [
+                        0.018859883799450472,
+                        0.11027678265236318,
+                        -0.02956486865878105
+                    ],
+                    "orientation": {
+                        "w": 0.07587210908512275,
+                        "xyz": [
+                            -0.018863809927648856,
+                            -0.7336061417403523,
+                            0.6750626700824324
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.6450803875923157,
+                    "position": [
+                        0.02398253048886545,
+                        0.11210671230219305,
+                        -0.015217795968055725
+                    ],
+                    "orientation": {
+                        "w": 0.08987022745065035,
+                        "xyz": [
+                            -0.05822440692891458,
+                            -0.7712987862007336,
+                            0.6274005443582422
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.6360915899276733,
+                    "position": [
+                        0.01033397953142412,
+                        0.11167681380175054,
+                        -0.03833342529833317
+                    ],
+                    "orientation": {
+                        "w": 0.05985109365865023,
+                        "xyz": [
+                            0.005031333644478198,
+                            -0.7239271318496117,
+                            0.6872568952303184
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.6187539100646973,
+                    "position": [
+                        0.023733101814286783,
+                        0.10710641904734075,
+                        -0.0260210782289505
+                    ],
+                    "orientation": {
+                        "w": 0.08101486917557278,
+                        "xyz": [
+                            -0.059876363132703746,
+                            -0.7136605676048571,
+                            0.6932099294992671
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.6153192520141602,
+                    "position": [
+                        0.022714465885655954,
+                        0.11407796456478536,
+                        -0.011669728439301252
+                    ],
+                    "orientation": {
+                        "w": 0.07723091883450212,
+                        "xyz": [
+                            -0.04406680710368631,
+                            -0.7402849905715148,
+                            0.6663870004901037
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.6144927740097046,
+                    "position": [
+                        0.025268258556025103,
+                        0.1117854134645313,
+                        -0.06531360559165478
+                    ],
+                    "orientation": {
+                        "w": 0.1023341660866683,
+                        "xyz": [
+                            -0.053724066439481966,
+                            -0.687716040892104,
+                            0.7167203710208341
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.6076743006706238,
+                    "position": [
+                        0.017485573916928843,
+                        0.10979708447121084,
+                        -0.04231471009552479
+                    ],
+                    "orientation": {
+                        "w": 0.06375416532359623,
+                        "xyz": [
+                            -0.03521573316662589,
+                            -0.6968790847244393,
+                            0.7134807634513051
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top lid",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top rim to reorient or nudge the can",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "grasp the top area to stabilize the can during opening",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "seal the beverage opening",
+                "support the pull tab",
+                "provide top surface for opening access",
+                "close the container"
+            ],
+            "semantic_description": "Circular silver aluminum lid with a reflective smooth hard finish, slightly recessed rings, and a flat top surface at the can's upper end.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pull tab",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and lift the tab to open the can",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "delicately grasp the tab to manipulate its orientation",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "open the drinking port",
+                "provide a lifting lever",
+                "break the seal of the can"
+            ],
+            "semantic_description": "Small silver metal stay-tab on the lid with a smooth reflective finish and oval finger holes, mounted at the center-top as the opening mechanism.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rivet of pull tab",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the pull tab",
+                "act as pivot point",
+                "connect opener to lid"
+            ],
+            "semantic_description": "Tiny round silver metal rivet with a smooth reflective finish, fixed at the center of the lid to secure and pivot the pull tab.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom base",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom rim to lift or flip the can during sorting",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "hold the base edge to stabilize the can upside down",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "support upright standing",
+                "protect the lower edge",
+                "provide contact surface with the table",
+                "stabilize the container base"
+            ],
+            "semantic_description": "Circular silver aluminum bottom with a smooth reflective hard surface and concentric stamped rings, located at the underside of the can as its standing base.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/beverages/69ec6c676d4b57ffafe05f31407a14a6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49097db7a10a2847dfe9a1d06ce154e3ef27a380c7a4b59cd72ed8f622fd5542
+size 3781400