Add asset kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621

.gitattributes

@@ -8509,3 +8509,4 @@ dataset/kitchen_supplies/ware/e7485b0e9eb95779b77d4466a677d9d9/affordance/mesh_p
 dataset/kitchen_supplies/ware/e8095d99eb2e5ea180dd99a6329e071d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/e86686a3f5ad5dda95c1e1c09235a4ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/e94f934712195839925367ccdb860b4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/affordance/affordance_annot.json

@@ -0,0 +1,232 @@
+{
+    "affordances": [
+        {
+            "part_name": "bottle body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottle body to pick up and carry the baby bottle",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the bottle body to stabilize it while feeding or repositioning",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "main grasp surface",
+                "support the bottle structure",
+                "provide squeezeable holding area"
+            ],
+            "semantic_description": "Large white plastic bottle body with a smooth slightly glossy finish and softly waisted cylindrical shape forming the main lower container.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "collar ring",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the collar ring to unscrew or tighten the top assembly",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the collar ring to stabilize the bottle during cap manipulation",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "secure the nipple assembly",
+                "connect top to bottle body",
+                "enable twisting for opening",
+                "seal the bottle opening"
+            ],
+            "semantic_description": "Medium dark-brown plastic ring with ribbed sides, a hard glossy surface, and a circular shape around the bottle neck below the nipple.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "nipple",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "dispense milk",
+                "provide sucking interface",
+                "control liquid flow",
+                "serve as drinking outlet"
+            ],
+            "semantic_description": "Small orange translucent silicone nipple with a soft smooth glossy surface and rounded tapered shape at the very top of the bottle.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim of nipple base",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the nipple base",
+                "help seat the nipple in the collar",
+                "contribute to sealing",
+                "transition between nipple and collar"
+            ],
+            "semantic_description": "Thin orange-translucent silicone flange band with a smooth glossy surface forming a narrow ring around the lower base of the nipple above the collar.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to lift or reposition the bottle",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "pinch the handle to orient the bottle during handoff or placement",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "assist lifting",
+                "help orient the bottle",
+                "support two-handed holding"
+            ],
+            "semantic_description": "Curved dark-brown plastic side handle with a smooth glossy hard surface, medium thickness, and loop-like shape attached near the upper bottle body.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.4434909224510193,
+                    "position": [
+                        0.07024290773551911,
+                        0.015318201505579054,
+                        -0.10454853251576424
+                    ],
+                    "orientation": {
+                        "w": 0.6669065730710859,
+                        "xyz": [
+                            -0.06286271454814428,
+                            -0.04474175271543146,
+                            0.7411356673903711
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.39323461055755615,
+                    "position": [
+                        0.09760717663448304,
+                        0.00666142872069031,
+                        -0.08041488006711006
+                    ],
+                    "orientation": {
+                        "w": 0.6611429056287264,
+                        "xyz": [
+                            -0.19259833825819828,
+                            -0.13578172698132873,
+                            0.7122915562148364
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.7284994125366211,
+                    "position": [
+                        0.1266330889193341,
+                        0.08593491988722235,
+                        -0.016451656818389893
+                    ],
+                    "orientation": {
+                        "w": 0.35300631020978485,
+                        "xyz": [
+                            -0.24262962254388395,
+                            -0.5726343583535849,
+                            0.6990045084613287
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.6783419251441956,
+                    "position": [
+                        0.12560735258739442,
+                        0.08507633733097464,
+                        -0.03410540893673897
+                    ],
+                    "orientation": {
+                        "w": 0.7258788346052908,
+                        "xyz": [
+                            0.5466300205091311,
+                            -0.24211335785600885,
+                            -0.34011271675422533
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.6686908006668091,
+                    "position": [
+                        0.1185718810884282,
+                        0.09743838536087424,
+                        -0.008665273897349834
+                    ],
+                    "orientation": {
+                        "w": 0.27812484167216817,
+                        "xyz": [
+                            -0.23200997010545288,
+                            -0.6434293036827212,
+                            0.6744009767036715
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "right handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to lift or reposition the bottle",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "pinch the handle to orient the bottle during handoff or placement",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "assist lifting",
+                "help orient the bottle",
+                "support two-handed holding"
+            ],
+            "semantic_description": "Curved dark-brown plastic side handle with a smooth glossy hard surface, medium thickness, and loop-like shape attached opposite the other handle near the upper bottle body.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.6309514045715332,
+                    "position": [
+                        -0.08993429329711944,
+                        -0.04623084736522287,
+                        -0.08656482771039009
+                    ],
+                    "orientation": {
+                        "w": 0.7174875106040014,
+                        "xyz": [
+                            -0.281730931264651,
+                            0.031972158393135386,
+                            -0.6362524149924376
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:921e470325dec275b42277a8f68c2aced7b97186dee717db9ecd9eb569366397
+size 60622412