Add asset kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916

.gitattributes

@@ -7509,3 +7509,4 @@ dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/affordance/mesh_p
 dataset/kitchen_supplies/ware/0d82c39258e55a0b99b652aac6da3b9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/14851e723f035738bf4188fb70e8beb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/affordance/affordance_annot.json

@@ -0,0 +1,264 @@
+{
+    "affordances": [
+        {
+            "part_name": "bottle body",
+            "mask_color": "Red",
+            "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 filling",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "main structural body",
+                "support printed markings",
+                "main grasp surface"
+            ],
+            "semantic_description": "Large rounded cream-white plastic body with a smooth semi-gloss surface, bulbous lower shape, central position, and visible pink printed decorative and measurement-like markings.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_8": {
+                    "confidence": 0.8190969824790955,
+                    "position": [
+                        -0.00011104167788289487,
+                        0.08350679581053555,
+                        0.0950918709859252
+                    ],
+                    "orientation": {
+                        "w": 0.2841525211929727,
+                        "xyz": [
+                            0.9587727265818043,
+                            -0.0005692270259824994,
+                            0.0034466568095699295
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "dual handle frame",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one side handle to lift and reposition the baby bottle",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "pinch a handle to stabilize the bottle during manipulation",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "help lifting",
+                "assist infant holding"
+            ],
+            "semantic_description": "Pair of curved pastel pink plastic handles with smooth slightly glossy surfaces, attached around the bottle shoulder area and extending downward on both sides, integrated with a blue upper band around the neck.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.8551735877990723,
+                    "position": [
+                        0.012048226955812424,
+                        -0.09623019839636981,
+                        -0.09034855011850595
+                    ],
+                    "orientation": {
+                        "w": 0.030619797267682887,
+                        "xyz": [
+                            0.0369713455310017,
+                            -0.2189884199603841,
+                            -0.9745458529736648
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.8508012890815735,
+                    "position": [
+                        0.013810564938466996,
+                        -0.11946398462168872,
+                        -0.08565785828977823
+                    ],
+                    "orientation": {
+                        "w": 0.05002539718396564,
+                        "xyz": [
+                            -0.07032919724545993,
+                            0.3464368956202153,
+                            0.9340946103069129
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.8093200325965881,
+                    "position": [
+                        0.01508543750969693,
+                        -0.09962366218678653,
+                        -0.09880630765110254
+                    ],
+                    "orientation": {
+                        "w": 0.9708277428658505,
+                        "xyz": [
+                            -0.23534286953018424,
+                            -0.037984657915601905,
+                            0.025775826006781948
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.7779563665390015,
+                    "position": [
+                        0.008898449304979295,
+                        -0.10360207105986774,
+                        0.0763315400108695
+                    ],
+                    "orientation": {
+                        "w": 0.05879687991883914,
+                        "xyz": [
+                            0.004568727260909467,
+                            -0.8596511838569719,
+                            -0.5074661523060748
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.7018753290176392,
+                    "position": [
+                        0.0514409655588679,
+                        -0.1381979479920119,
+                        -0.027746123261749744
+                    ],
+                    "orientation": {
+                        "w": 0.7761550751558483,
+                        "xyz": [
+                            -0.5849791814821486,
+                            -0.21020294217798696,
+                            0.10581767169056847
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "collar ring",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the narrow ring to help twist or secure the top assembly",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the ring to steady the bottle while attaching the nipple assembly",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "secure nipple assembly",
+                "connect top to bottle",
+                "provide twisting interface"
+            ],
+            "semantic_description": "Thin pastel pink ring around the neck with a smooth hard plastic surface, circular shape, and narrow band positioned between the blue band below and the orange top cap above.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_44": {
+                    "confidence": 0.17403416335582733,
+                    "position": [
+                        -0.0937769373995252,
+                        0.043692416744306684,
+                        0.07008080836385489
+                    ],
+                    "orientation": {
+                        "w": 0.2966643723868436,
+                        "xyz": [
+                            -0.42632319322252044,
+                            0.7011489853181946,
+                            -0.48849655624593763
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top rim cover",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper cap area to steady the bottle while assembling or disassembling the nipple parts",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the cap area to help reposition the bottle briefly",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support top assembly",
+                "surround upper opening",
+                "hold the nipple base"
+            ],
+            "semantic_description": "Rounded light blue plastic top cap or rim section with a smooth slightly glossy surface, thick circular band form, and medium size around the bottle top directly below the silicone nipple.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_52": {
+                    "confidence": 0.13496650755405426,
+                    "position": [
+                        -0.10714104381622747,
+                        -0.011259583523496985,
+                        0.035790896974503994
+                    ],
+                    "orientation": {
+                        "w": 0.5036891434485287,
+                        "xyz": [
+                            0.46193950644467996,
+                            0.5167327086951768,
+                            0.5156514781538775
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.7844122648239136,
+                    "position": [
+                        -0.02029497904004529,
+                        0.08137233857996762,
+                        0.09784036036580801
+                    ],
+                    "orientation": {
+                        "w": 0.04349332883160731,
+                        "xyz": [
+                            -0.08709849950587654,
+                            0.8844463440167817,
+                            -0.45637358193295935
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "nipple",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "dispense liquid for drinking",
+                "mouth contact surface",
+                "regulate feeding flow",
+                "provide soft sucking interface"
+            ],
+            "semantic_description": "Small translucent gray silicone nipple with a glossy soft flexible surface, tapered dome shape, and central top position above the plastic rings.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and visual descriptions mismatch visible part colors; top ring identities are swapped."
+    }
+}

dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad433ac0cc8556c914f0ae15856d58c6a0352cf04b90badee4cf788a4e3bfaec
+size 3782196