Add asset kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810

.gitattributes

@@ -7549,3 +7549,4 @@ dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/affordance/mesh_p
 dataset/kitchen_supplies/ware/414b3ed618f155239bc7710c0399ed4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/affordance/affordance_annot.json

@@ -0,0 +1,166 @@
+{
+    "affordances": [
+        {
+            "part_name": "spout",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the spout tip to precisely orient the teapot during careful repositioning",
+                    "confidence": 0.24
+                },
+                {
+                    "scenario": "lightly hold the spout to stabilize the teapot while another gripper supports the body",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "pour liquid",
+                "direct flow",
+                "control pouring direction",
+                "indicate front orientation"
+            ],
+            "semantic_description": "A short curved blue ceramic spout with a glossy hard smooth surface projects from the upper side of the teapot and narrows to a small pouring opening.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the teapot",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the handle to tilt the teapot for pouring",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the teapot while opening the lid with another gripper",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the teapot",
+                "control pouring motion",
+                "stabilize during lid manipulation"
+            ],
+            "semantic_description": "A rectangular loop handle in blue ceramic with a glossy hard smooth finish is attached high on one side, medium-sized and open for secure side gripping.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to remove the lid for filling or cleaning",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold the lid to place it back onto the teapot opening",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "cover the opening",
+                "retain heat",
+                "reduce spills",
+                "allow access for filling"
+            ],
+            "semantic_description": "A pyramid-shaped blue ceramic lid with a glossy hard smooth surface sits on top of the teapot, covering the main opening with clean angular faces.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_75": {
+                    "confidence": 0.13962797820568085,
+                    "position": [
+                        0.1463072611950338,
+                        -0.0018166927620768547,
+                        0.07541439402848482
+                    ],
+                    "orientation": {
+                        "w": 0.4427320139544719,
+                        "xyz": [
+                            0.5150167994817674,
+                            -0.5568835032545424,
+                            -0.4781493740185403
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lid knob",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to lift off the lid",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the knob to reposition or seat the lid",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a pinch grip",
+                "remove the lid",
+                "reposition the lid",
+                "indicate lid center"
+            ],
+            "semantic_description": "A small rounded blue ceramic knob with a glossy hard smooth finish protrudes from the lid center as the primary small grasp point.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.33121711015701294,
+                    "position": [
+                        0.004411750007420778,
+                        -0.025704012252390385,
+                        0.1777842165902257
+                    ],
+                    "orientation": {
+                        "w": 0.08354185838882046,
+                        "xyz": [
+                            -0.9959614998726879,
+                            0.031636935736521654,
+                            -0.00897513038852832
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body from the sides to pick up the teapot when the handle is unavailable",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the body to stabilize the teapot on a surface",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "support all other parts",
+                "provide main structure",
+                "rest on a surface"
+            ],
+            "semantic_description": "The main teapot body is a tall faceted blue ceramic container with glossy hard smooth walls, relatively large and boxy with a broad stable base and no visible markings.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:315aeb50daf1818b4feace061403424f1d7dd40b9f2515ffa3640d5b2f6c142b
+size 745156