Add asset kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d

.gitattributes

@@ -7541,3 +7541,4 @@ dataset/kitchen_supplies/ware/3857a3c5a8dd5d41bf203e4f95e4648f/affordance/mesh_p
 dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3ac06fd007aa5bcfbb2691926831cd05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/affordance/affordance_annot.json

@@ -0,0 +1,210 @@
+{
+    "affordances": [
+        {
+            "part_name": "teapot body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body from the sides to pick up the teapot when the handle is inaccessible",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the body to stabilize the teapot during placement or inspection",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "support all attached parts",
+                "provide main structure",
+                "main grasp surface"
+            ],
+            "semantic_description": "Large rounded white ceramic vessel with a glossy hard smooth surface, pink floral decoration and gold trim, forming the central lower container of the teapot.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid from above to remove it for filling or cleaning",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the lid to place and align it onto the teapot opening",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "cover the opening",
+                "retain heat",
+                "reduce spilling",
+                "allow access for filling"
+            ],
+            "semantic_description": "Small scalloped white ceramic lid with a glossy smooth finish, pink rose motifs and gold edging, sitting on top of the teapot body.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid knob",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to lift off the lid",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the knob to reposition and seat the lid",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide a pinch grip",
+                "lift the lid",
+                "guide lid placement"
+            ],
+            "semantic_description": "Tiny curved gold-toned knob on the lid top, likely glazed ceramic or metallic trim, with a glossy smooth hard surface and compact hook-like shape.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_42": {
+                    "confidence": 0.34769195318222046,
+                    "position": [
+                        0.02075833703565877,
+                        -0.006145014893263578,
+                        0.1850055931136012
+                    ],
+                    "orientation": {
+                        "w": 0.10471442759674167,
+                        "xyz": [
+                            -0.975799932494459,
+                            -0.17723608331792548,
+                            0.07373432828077862
+                        ]
+                    }
+                },
+                "grasp_44": {
+                    "confidence": 0.26423078775405884,
+                    "position": [
+                        0.009330725923064165,
+                        -0.00952783739194274,
+                        0.18668560963124037
+                    ],
+                    "orientation": {
+                        "w": 0.0604156003938638,
+                        "xyz": [
+                            -0.24164817803504246,
+                            -0.9654338245962971,
+                            -0.07677006973266634
+                        ]
+                    }
+                },
+                "grasp_46": {
+                    "confidence": 0.24429376423358917,
+                    "position": [
+                        -0.017755777880665846,
+                        -0.017244949471205473,
+                        0.18306304793804884
+                    ],
+                    "orientation": {
+                        "w": 0.17642515271449877,
+                        "xyz": [
+                            -0.935850140958853,
+                            0.30248499216325264,
+                            -0.03951592935712926
+                        ]
+                    }
+                },
+                "grasp_51": {
+                    "confidence": 0.28094586730003357,
+                    "position": [
+                        -0.01308787458401639,
+                        0.019305425230413675,
+                        0.18599367421120405
+                    ],
+                    "orientation": {
+                        "w": 0.08427014212661,
+                        "xyz": [
+                            -0.046982318005761164,
+                            0.994349347188937,
+                            -0.04427844493319098
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "spout",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the spout to orient the teapot during inspection or positioning",
+                    "confidence": 0.29
+                },
+                {
+                    "scenario": "lightly hold the spout to stabilize the teapot while another gripper manipulates the lid or handle",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "pour liquid",
+                "direct flow",
+                "indicate pouring direction",
+                "support aiming"
+            ],
+            "semantic_description": "Elongated tapered white ceramic spout with glossy smooth finish and gold-trimmed rim, projecting from the side of the teapot body.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to lift and carry the teapot",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the handle to tilt the teapot for pouring",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "use the handle to stabilize the teapot while placing it down",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the teapot",
+                "tilt for pouring",
+                "stabilize during transport"
+            ],
+            "semantic_description": "Ornate looped gold-toned handle with a glossy smooth hard surface, attached high on the teapot side and sized as the primary gripping feature.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base foot",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support on table",
+                "elevate the body",
+                "stabilize standing position"
+            ],
+            "semantic_description": "Small underside foot ring area in white ceramic with a glossy hard smooth finish, centered beneath the teapot to support contact with the surface.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9290591395539225ed84068f5e91dfaf85ca462592f22b32a7046882f2d6b507
+size 1018236