Add asset kitchen_supplies/ware/32fe4efa41575b178eb6b0ecd59f88ae

.gitattributes

@@ -7533,3 +7533,4 @@ dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/affordance/mesh_p
 dataset/kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/326edbaca63657608eabc43a8aa3f7c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/32fe4efa41575b178eb6b0ecd59f88ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/32fe4efa41575b178eb6b0ecd59f88ae/affordance/affordance_annot.json

@@ -0,0 +1,209 @@
+{
+    "affordances": [
+        {
+            "part_name": "mug handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the mug",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to stabilize or reorient the mug while placing it",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the mug",
+                "stabilize during handling",
+                "help orient the mug"
+            ],
+            "semantic_description": "A small curved light beige ceramic handle with a glossy smooth hard surface attaches to the mug side and protrudes outward for gripping.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner bowl of mug",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain liquid",
+                "provide drinking volume",
+                "hold contents inside the mug"
+            ],
+            "semantic_description": "The interior cavity appears light beige with a glossy smooth hard ceramic finish, forming the open top basin where liquid sits inside the mug.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mug body from the sides to pick it up",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the body to stabilize the mug during placement or inspection",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "form the main structure",
+                "support the handle connection",
+                "provide external grasp surface"
+            ],
+            "semantic_description": "The main tapered mug body is light beige ceramic with a glossy smooth hard surface, broad at the top and narrower near the base.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.7184920907020569,
+                    "position": [
+                        -0.105404251255095,
+                        -0.015512510144617409,
+                        -0.08453465811908245
+                    ],
+                    "orientation": {
+                        "w": 0.6236592746520452,
+                        "xyz": [
+                            -0.42920512170113423,
+                            0.3567212514403796,
+                            -0.5473408640114582
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.7045799493789673,
+                    "position": [
+                        -0.10439875070005655,
+                        0.00538518518442288,
+                        -0.08106322400271893
+                    ],
+                    "orientation": {
+                        "w": 0.5574176515211899,
+                        "xyz": [
+                            -0.4033252332424313,
+                            0.4101376886779666,
+                            -0.5986663464137894
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.594379723072052,
+                    "position": [
+                        -0.05936564225703478,
+                        0.0944980020285584,
+                        -0.04085333086550236
+                    ],
+                    "orientation": {
+                        "w": 0.6540575812867488,
+                        "xyz": [
+                            0.7057990025536195,
+                            0.17281720122785815,
+                            0.21021575420365918
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.5812409520149231,
+                    "position": [
+                        -0.10712216142565012,
+                        -0.02505494368961081,
+                        -0.06608672998845577
+                    ],
+                    "orientation": {
+                        "w": 0.6096523464035251,
+                        "xyz": [
+                            -0.4976851494622201,
+                            0.3841995338582167,
+                            -0.482725829754917
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.5755544304847717,
+                    "position": [
+                        0.054400364868342876,
+                        0.07489546487340704,
+                        -0.08004034124314785
+                    ],
+                    "orientation": {
+                        "w": 0.7909111528659776,
+                        "xyz": [
+                            0.5174984386957421,
+                            -0.2010945331571634,
+                            -0.2573245090425364
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.5695064663887024,
+                    "position": [
+                        -0.11113423202186823,
+                        -0.024136043095495552,
+                        -0.05653201602399349
+                    ],
+                    "orientation": {
+                        "w": 0.5700507277563863,
+                        "xyz": [
+                            -0.5353527028351319,
+                            0.42527526442780783,
+                            -0.4556101412582815
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "mug rim",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define the drinking edge",
+                "bound the opening",
+                "help retain contents"
+            ],
+            "semantic_description": "A thin circular light beige ceramic rim with a glossy smooth hard finish runs around the top edge of the mug opening.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mug foot ring",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support standing",
+                "stabilize on a table",
+                "elevate the mug base"
+            ],
+            "semantic_description": "A narrow circular light beige ceramic ring with a glossy smooth hard surface surrounds the lower exterior, forming the mug's supporting foot.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom of mug",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support on flat surfaces",
+                "provide a resting surface",
+                "close the mug underside"
+            ],
+            "semantic_description": "The underside base is a small flat circular light beige ceramic surface with a glossy smooth hard finish centered at the bottom of the mug.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/32fe4efa41575b178eb6b0ecd59f88ae/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2fe6282ad7d6b9f329436348bff5c1065930aa640b80dbe743dddcde65de01e
+size 3784520