Add asset kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec

.gitattributes

@@ -8501,3 +8501,4 @@ dataset/kitchen_supplies/ware/e272bcb77e0c56a7a9f2a7d6804c5a36/affordance/mesh_p
 dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/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/e3773d4bb6d7560dbaf13662c78f679a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/affordance/affordance_annot.json

@@ -0,0 +1,114 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to pick up the cup",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the cup body to stabilize it while placing on a surface",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the body near the rim for reorientation when empty or lightly filled",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain the beverage",
+                "support the liquid volume",
+                "provide the main structural shell",
+                "provide an external grasp surface",
+                "support printed branding"
+            ],
+            "semantic_description": "Large tapered off-white ceramic cup body with a glossy smooth hard surface, rounded cylindrical shape, slightly thicker rim and base, and brown printed coffee logo/text on the side.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.8875101804733276,
+                    "position": [
+                        0.0034256819635629654,
+                        -0.0017028646543622017,
+                        -0.11814966471865773
+                    ],
+                    "orientation": {
+                        "w": 0.9985929236212207,
+                        "xyz": [
+                            0.006689250488271342,
+                            -0.0012724051633467015,
+                            0.05259094795331981
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.8800186514854431,
+                    "position": [
+                        -0.0022734119556844234,
+                        -0.002795199863612652,
+                        -0.12206951202824712
+                    ],
+                    "orientation": {
+                        "w": 0.9996990312503459,
+                        "xyz": [
+                            -0.008463206684120284,
+                            0.008220771852748499,
+                            -0.02150906692275211
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8730648756027222,
+                    "position": [
+                        0.0004160043317824602,
+                        0.01563475513830781,
+                        -0.11559908511117101
+                    ],
+                    "orientation": {
+                        "w": 0.9962052933937964,
+                        "xyz": [
+                            0.024750430484248673,
+                            0.000928730986719084,
+                            0.08343600579952515
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift the cup",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the handle to stabilize and rotate the cup while pouring or repositioning",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hook a finger-style gripper through the handle opening for secure pickup",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the cup without enclosing the body",
+                "stabilize the cup during pouring",
+                "help keep the hand away from the hot cup wall"
+            ],
+            "semantic_description": "Curved off-white ceramic handle with a glossy smooth hard surface, medium thickness, and an open loop form attached to the cup side near the upper and middle body.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d48052e4e57550e6e696fef12b52fed09ad3c4f448894b47c7e12a31c42bb9
+size 3778772