Add asset kitchen_supplies/ware/c6c4a25c158c58309bef8ca6fa9d51eb

.gitattributes

@@ -7640,4 +7640,5 @@ dataset/kitchen_supplies/ware/beaeea07936d59faa7e878cd19ae0468/affordance/mesh_p
 dataset/kitchen_supplies/ware/c3bafd1efb145b49bd38eb21907fd4a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c483cda1060156f8ba69d6f943467dc6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c50e899de465597ebba8a270fdba138d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/c533dfb8dbac52dc973d704843b4409d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/c6c4a25c158c58309bef8ca6fa9d51eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/c6c4a25c158c58309bef8ca6fa9d51eb/affordance/affordance_annot.json

@@ -0,0 +1,203 @@
+{
+    "affordances": [
+        {
+            "part_name": "side handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the loop side handle to lift and carry the teapot",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the side handle to tilt the teapot and pour from the spout",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "use the side handle to reposition the teapot on a surface",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide the main hand grip",
+                "lift the teapot",
+                "control pouring angle",
+                "help reorient the vessel"
+            ],
+            "semantic_description": "Large dark loop handle attached to the side of the teapot body, smooth and rigid, arcing outward and back toward the lower body.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "teapot body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rounded body to stabilize the teapot during handling",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold the body to reposition the teapot when empty or cool",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "form the main vessel",
+                "support attached parts",
+                "provide overall structure"
+            ],
+            "semantic_description": "Rounded dark gray to black body with a smooth hard surface and subtle horizontal banding, forming the main container of the teapot.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_63": {
+                    "confidence": 0.10524408519268036,
+                    "position": [
+                        -0.10904224868863821,
+                        -0.11511938444346015,
+                        -0.07754316553473473
+                    ],
+                    "orientation": {
+                        "w": 0.7279382889197181,
+                        "xyz": [
+                            -0.6722019484080783,
+                            -0.02172842219439053,
+                            -0.13333515571655735
+                        ]
+                    }
+                },
+                "grasp_66": {
+                    "confidence": 0.07246514409780502,
+                    "position": [
+                        -0.09141162689775229,
+                        -0.11792695692747657,
+                        -0.09044603630900383
+                    ],
+                    "orientation": {
+                        "w": 0.7253556830901523,
+                        "xyz": [
+                            -0.6519256892916436,
+                            -0.10996550910641312,
+                            -0.19172797254808968
+                        ]
+                    }
+                },
+                "grasp_68": {
+                    "confidence": 0.02644866704940796,
+                    "position": [
+                        -0.0874990290030837,
+                        -0.11821101031273429,
+                        -0.053531345911324024
+                    ],
+                    "orientation": {
+                        "w": 0.7030805397552392,
+                        "xyz": [
+                            -0.6752302570388339,
+                            -0.14873124767774426,
+                            -0.1661952783955476
+                        ]
+                    }
+                },
+                "grasp_76": {
+                    "confidence": 0.01152066420763731,
+                    "position": [
+                        0.04332609195262194,
+                        -0.1434078233596665,
+                        -0.11153659597039223
+                    ],
+                    "orientation": {
+                        "w": 0.8277126258809969,
+                        "xyz": [
+                            -0.5610526481623362,
+                            0.008124872634727831,
+                            0.006761759525752212
+                        ]
+                    }
+                },
+                "grasp_78": {
+                    "confidence": 0.009314512833952904,
+                    "position": [
+                        0.0831341752782464,
+                        -0.12020317635506217,
+                        -0.10727617144584656
+                    ],
+                    "orientation": {
+                        "w": 0.8554660601826578,
+                        "xyz": [
+                            -0.49337201645565554,
+                            -0.14925949676818895,
+                            -0.04983448483278464
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support on a table",
+                "provide stable contact surface",
+                "balance the vessel"
+            ],
+            "semantic_description": "Broad rounded bottom section of the teapot, dark and smooth, slightly flattened where it contacts a surface to keep the pot upright.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spout",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "use the spout as a light secondary contact point to steady the teapot",
+                    "confidence": 0.28
+                },
+                {
+                    "scenario": "delicately grasp near the spout for inspection or careful repositioning",
+                    "confidence": 0.2
+                }
+            ],
+            "functional_labels": [
+                "pour liquid",
+                "direct flow",
+                "aim the stream",
+                "indicate front orientation"
+            ],
+            "semantic_description": "Short curved pouring spout on the side of the teapot, dark and smooth with a tapered outlet projecting outward from the body.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid knob",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small top knob to lift or remove the lid",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the knob to place and align the lid on the teapot opening",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "lift the lid",
+                "remove the lid",
+                "place the lid",
+                "provide top grip for the lid"
+            ],
+            "semantic_description": "Small narrow dark top knob on the lid, smooth and rigid, projecting upward at a slight angle near the center of the teapot opening.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green/red parts misidentified: lid knob is actually a long top handle; red top strip in one view is not side handle alone."
+    }
+}

dataset/kitchen_supplies/ware/c6c4a25c158c58309bef8ca6fa9d51eb/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c67fc187e02e29fe86f949c92a381da05b0e1f45d89dedbd49d2d9a4a9e21ffd
+size 780396