Add asset kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec

.gitattributes

@@ -7580,4 +7580,4 @@ dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/affordance/mesh_p
 dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/757b5c3f0c3b5470b0f2c8fb199de00a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/affordance/affordance_annot.json

@@ -0,0 +1,202 @@
+{
+    "affordances": [
+        {
+            "part_name": "bottle body and side handles",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottle around the main body to pick up or hold it steady",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp one of the side handles to lift or reposition the bottle",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the body and handles area to stabilize the bottle while twisting the top ring",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main grasp surface",
+                "provide child-friendly side handles",
+                "stabilize during feeding",
+                "support attached top assembly"
+            ],
+            "semantic_description": "The green-masked part includes the main bottle body and the two integrated side handles. It is mostly off-white to light beige plastic with a smooth slightly glossy surface, an hourglass-like body, curved loop handles on both sides, and printed measurement markings on one side.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.9361783266067505,
+                    "position": [
+                        0.011716353823430836,
+                        0.09639931673882529,
+                        -0.09646042785607278
+                    ],
+                    "orientation": {
+                        "w": 0.056012221603011295,
+                        "xyz": [
+                            -0.023523765602705526,
+                            -0.5052464305763543,
+                            0.8608340768538483
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9358536005020142,
+                    "position": [
+                        -0.005060224677436054,
+                        0.05423849279759452,
+                        -0.12502406886778772
+                    ],
+                    "orientation": {
+                        "w": 0.09659435850038094,
+                        "xyz": [
+                            0.04527141182455324,
+                            -0.23473180159530782,
+                            0.9661889103571475
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9302079677581787,
+                    "position": [
+                        -0.0035045872209593654,
+                        0.08764568174956366,
+                        -0.10364853194914758
+                    ],
+                    "orientation": {
+                        "w": 0.08211992403155516,
+                        "xyz": [
+                            -0.01598803341138307,
+                            0.4533710675705178,
+                            -0.8873868243075608
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "nipple",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "dispense milk",
+                "provide sucking interface",
+                "control flow at the tip",
+                "indicate feeding end"
+            ],
+            "semantic_description": "The nipple is a small translucent beige silicone tip with a soft smooth slightly matte surface, rounded tapered shape, and centered position at the very top of the bottle.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "screw ring",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the ring to twist and remove or tighten the bottle top",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the ring to stabilize the top assembly during cleaning or reassembly",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "secure nipple assembly",
+                "connect top to bottle",
+                "enable twisting for opening",
+                "seal feeding top"
+            ],
+            "semantic_description": "The screw ring is a translucent amber-orange plastic collar with a glossy smooth hard surface, circular threaded form, and medium size around the base of the nipple near the bottle top.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9540386199951172,
+                    "position": [
+                        0.01438636623788625,
+                        -0.10307989810826257,
+                        0.07803097763098776
+                    ],
+                    "orientation": {
+                        "w": 0.04615617017382789,
+                        "xyz": [
+                            0.0466481920780416,
+                            -0.8207868547940015,
+                            -0.5674526351406831
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9330815076828003,
+                    "position": [
+                        -0.014930361765436828,
+                        -0.0718118975055404,
+                        0.11878308304585516
+                    ],
+                    "orientation": {
+                        "w": 0.07554344864582023,
+                        "xyz": [
+                            0.0025537804386084237,
+                            0.9280457758398357,
+                            0.3647159216678171
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9279659390449524,
+                    "position": [
+                        -0.02150666795205325,
+                        0.0812126939999871,
+                        0.10750816413201392
+                    ],
+                    "orientation": {
+                        "w": 0.07978600537838802,
+                        "xyz": [
+                            -0.039047463844267404,
+                            0.8935864024943168,
+                            -0.44001457952021883
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "collar band",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join top assembly to body",
+                "provide transition between ring and bottle body",
+                "help seat the top assembly"
+            ],
+            "semantic_description": "This narrow band is a thin light beige to taupe plastic ring with a smooth slightly glossy hard finish, encircling the neck between the upper screw ring and the main bottle body.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base pad",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support standing",
+                "protect the bottom",
+                "add stability on surfaces"
+            ],
+            "semantic_description": "The base pad is a circular orange to amber insert on the underside of the bottle, appearing smooth with a matte-to-satin finish and centered at the bottom.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f643772261100e3913bc0d3b8ebd8f2a5427392462b00714504d860b302c44ab
+size 3781096