Add asset kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d

.gitattributes

@@ -7648,3 +7648,4 @@ dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/affordance/mesh_p
 dataset/kitchen_supplies/ware/c7a1beb7101c57b5bb58aee1e7d48187/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ca3e7532a3d85696bbb0349581b54688/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/affordance/affordance_annot.json

@@ -0,0 +1,167 @@
+{
+    "affordances": [
+        {
+            "part_name": "spout",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the spout lightly to orient the teapot during placement or inspection",
+                    "confidence": 0.29
+                },
+                {
+                    "scenario": "pinch the spout to stabilize the teapot while another gripper supports the body",
+                    "confidence": 0.24
+                }
+            ],
+            "functional_labels": [
+                "pour liquid",
+                "direct flow",
+                "control pouring direction",
+                "indicate front orientation"
+            ],
+            "semantic_description": "A short curved dark ceramic spout with a glossy smooth hard surface projects from the upper side of the teapot, tapering to a small opening for pouring.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the teapot",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the handle to tilt the teapot for pouring",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp the handle to reposition the teapot on a surface",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the teapot",
+                "stabilize during pouring",
+                "keep hand away from hot body"
+            ],
+            "semantic_description": "A curved loop handle made of dark ceramic with a glossy smooth hard finish is attached to the side near the top, sized as the primary gripping feature.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid knob",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lid knob to remove or place the lid",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the knob to slightly rotate the lid for alignment",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "grip the lid",
+                "lift the lid",
+                "align lid position"
+            ],
+            "semantic_description": "A small round dark ceramic knob with a glossy smooth hard surface sits centered on top of the lid as a raised pinchable feature.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.10317667573690414,
+                    "position": [
+                        0.09895709177362733,
+                        0.009213971206918359,
+                        0.10579929227242246
+                    ],
+                    "orientation": {
+                        "w": 0.44567083322387924,
+                        "xyz": [
+                            -0.44325432515652063,
+                            -0.6102957955287929,
+                            0.4821225503992203
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid from the sides to remove it when the knob is inaccessible",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "hold the lid while placing it onto the teapot opening",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "cover the opening",
+                "retain heat",
+                "reduce spills",
+                "close the vessel"
+            ],
+            "semantic_description": "A circular dark ceramic lid with a glossy smooth hard finish covers the top opening, appearing slightly domed with a thin gold-toned rim accent.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the teapot body from the sides to pick it up",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "support the body with one gripper while another manipulates the handle or lid",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the body to stabilize the teapot on a work surface",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "support all attached parts",
+                "provide main structure",
+                "rest on a surface"
+            ],
+            "semantic_description": "The main vessel is a large rounded dark gray ceramic body with a glossy smooth hard surface, gently tapering toward the base and forming the bulk of the teapot.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid rim",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "seat the lid",
+                "align the lid",
+                "help seal the opening",
+                "provide a decorative accent"
+            ],
+            "semantic_description": "A thin narrow ring around the lid edge appears gold-toned and slightly reflective, forming a small hard ceramic-bordered rim at the top opening.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02657d1d060c926a1cc56c5c19dd6c986cca3420f5eaa42f9c66dd384c97e705
+size 710280