Add asset kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483

.gitattributes

@@ -7579,3 +7579,4 @@ dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/affordance/mesh_p
 dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/6bd70941cae356b0b55a2a8e7c85e483/affordance/affordance_annot.json

@@ -0,0 +1,174 @@
+{
+    "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 placing or setting it down",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the bottle body to orient the nipple toward the user for feeding",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "main grasp surface",
+                "support feeding",
+                "provide structural body",
+                "display volume markings"
+            ],
+            "semantic_description": "Large white translucent plastic bottle body with a smooth slightly glossy surface, rounded hourglass-like shape, printed blue and orange measurement marks, and upper side mounting points for the two handles near the neck.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.7735208868980408,
+                    "position": [
+                        -0.11043711274396628,
+                        -0.0025448467063142743,
+                        -0.11117528844624758
+                    ],
+                    "orientation": {
+                        "w": 0.68525552456309,
+                        "xyz": [
+                            -0.1928386350408074,
+                            0.19120202462884972,
+                            -0.6757809650095152
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "nipple",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "dispense milk",
+                "allow sucking",
+                "control liquid outlet",
+                "provide feeding interface"
+            ],
+            "semantic_description": "Small tan-beige soft silicone nipple with a smooth slightly glossy surface, rounded tapered shape, and top-centered position above the collar.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "collar ring",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the collar ring to stabilize the top while twisting or adjusting the bottle assembly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the collar ring for short-range repositioning when the body is obstructed",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "secure nipple",
+                "connect top assembly to bottle body",
+                "seal bottle opening",
+                "stabilize top section"
+            ],
+            "semantic_description": "Thin orange-tan ring visible as a narrow circular band between the tan nipple and the blue bottle body near the top opening.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.2756442427635193,
+                    "position": [
+                        0.06255553395021707,
+                        0.09491725117504757,
+                        0.027191380970180035
+                    ],
+                    "orientation": {
+                        "w": 0.6841411932545793,
+                        "xyz": [
+                            0.6765614236570364,
+                            -0.18278936783936706,
+                            -0.20199879879902474
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.2690829038619995,
+                    "position": [
+                        0.07537544250953943,
+                        -0.09256038218200047,
+                        0.02648735698312521
+                    ],
+                    "orientation": {
+                        "w": 0.6697938532393943,
+                        "xyz": [
+                            -0.6530399111098872,
+                            -0.25500357413371233,
+                            0.24472075073304989
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one side handle to pull or reposition the baby bottle",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "pinch a side handle to stabilize the bottle during manipulation",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "assist lifting",
+                "help stabilize the bottle",
+                "support toddler self-holding"
+            ],
+            "semantic_description": "Small curved pink plastic handle with a smooth semi-gloss hard surface, loop-like shape, attached on one upper side near the neck.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one side handle to pull or reposition the baby bottle",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "pinch a side handle to stabilize the bottle during manipulation",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "assist lifting",
+                "help stabilize the bottle",
+                "support toddler self-holding"
+            ],
+            "semantic_description": "Small curved yellow plastic handle with a smooth semi-gloss hard surface, loop-like shape, attached on the opposite upper side near the neck.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle mask colors and body/collar descriptions mismatch visible colors; one front handle omitted as separate mask part."
+    }
+}

dataset/kitchen_supplies/ware/6bd70941cae356b0b55a2a8e7c85e483/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b9d4ef314716418d1350addfa379d373e50581d9926528b5a9cdbe1ff73d093
+size 111340764