Add asset kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2

.gitattributes

@@ -7647,3 +7647,4 @@ dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/affordance/mesh_p
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/ccd37c758de15e978c7d709637a97cd2/affordance/affordance_annot.json

@@ -0,0 +1,181 @@
+{
+    "affordances": [
+        {
+            "part_name": "teapot body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the teapot body from the sides to pick it up",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the body to stabilize the teapot while manipulating the lid",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "support the other parts",
+                "main structural vessel",
+                "provide a broad stabilization surface"
+            ],
+            "semantic_description": "Large rounded blue ceramic vessel with a glossy reflective finish, hard smooth surface, and bulbous central form making up most of the teapot.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the teapot",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to tilt the teapot for pouring",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the handle to stabilize and reposition the teapot on a surface",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the teapot",
+                "control pouring angle",
+                "help reposition the vessel"
+            ],
+            "semantic_description": "Curved blue ceramic handle with a glossy finish, hard smooth texture, and medium-sized loop form attached to the upper side of the teapot.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spout",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the spout to orient the teapot during placement or inspection",
+                    "confidence": 0.32
+                },
+                {
+                    "scenario": "hold the spout lightly to stabilize the teapot while another gripper opens the lid",
+                    "confidence": 0.27
+                }
+            ],
+            "functional_labels": [
+                "pour liquid",
+                "direct flow",
+                "aim the stream",
+                "indicate front orientation"
+            ],
+            "semantic_description": "Tapered blue ceramic spout with a glossy finish, hard smooth surface, and slightly curved tubular shape projecting from the front side of the teapot.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid by pinching its edge together with the knob area to remove it",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the lid down lightly while the teapot is tilted for pouring",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "cover the opening",
+                "retain heat",
+                "reduce spilling",
+                "allow access for filling and cleaning"
+            ],
+            "semantic_description": "Round blue ceramic lid with a glossy reflective finish, hard smooth texture, and shallow domed shape sitting on top of the teapot opening.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid knob",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lid knob to lift off the lid",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the knob to place and align the lid",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a small lifting grip",
+                "position the lid",
+                "assist lid removal",
+                "assist lid placement"
+            ],
+            "semantic_description": "Small rounded blue ceramic knob with a glossy finish, hard smooth texture, and compact top-centered form on the lid.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_84": {
+                    "confidence": 0.12369297444820404,
+                    "position": [
+                        0.010106847214046866,
+                        0.03095387201756239,
+                        0.1795609351247549
+                    ],
+                    "orientation": {
+                        "w": 0.11850027503588342,
+                        "xyz": [
+                            0.9878477127767801,
+                            -0.09662764058375878,
+                            -0.027886919035995394
+                        ]
+                    }
+                },
+                "grasp_85": {
+                    "confidence": 0.11620394140481949,
+                    "position": [
+                        0.028458298707846552,
+                        0.018838233314454556,
+                        0.18157740496098995
+                    ],
+                    "orientation": {
+                        "w": 0.11633204531059876,
+                        "xyz": [
+                            0.979824230923526,
+                            -0.13320327282954986,
+                            -0.09310327511140513
+                        ]
+                    }
+                },
+                "grasp_89": {
+                    "confidence": 0.047369226813316345,
+                    "position": [
+                        0.02034016657853499,
+                        0.01701843272894621,
+                        0.1879978235810995
+                    ],
+                    "orientation": {
+                        "w": 0.09159031973233886,
+                        "xyz": [
+                            0.7972650236375357,
+                            -0.5895674411767782,
+                            -0.09159654862402575
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01aaea478c914ceb599882e67ba2a7845f9cd7888fa0b2d3d4759149b62a0407
+size 599032