Add asset bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc

.gitattributes

@@ -5769,4 +5769,4 @@ dataset/bathroom_supplies/personal_care/30caa16d6dd759ddb11b6c6bd3351caa/afforda
 dataset/bathroom_supplies/personal_care/314085f1747858c5a11fdac02b83ad10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/317b3184b9ff5eec9ed95941ea7de7d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/326389df5f8c5a2b80f00f0d1039eb40/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/affordance/affordance_annot.json

@@ -0,0 +1,189 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall to pick up and move the cup",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the cup body to stabilize it during filling or dispensing",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the sidewall while rotating or reorienting the cup",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "contain mouthwash",
+                "provide main grasp surface",
+                "support lifting",
+                "support placement",
+                "form cup structure"
+            ],
+            "semantic_description": "The main cup body is a medium-sized tapered cylindrical shell made of white glossy plastic with a hard smooth surface, forming most of the object and the outer sidewalls.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.20817404985427856,
+                    "position": [
+                        0.025057173217646778,
+                        0.07062155200401321,
+                        0.133647414855659
+                    ],
+                    "orientation": {
+                        "w": 0.33020486013177636,
+                        "xyz": [
+                            0.9162308733042251,
+                            -0.2245976232647085,
+                            -0.032274522047199675
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly pinch the rim to reorient the empty cup",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "grasp near the rim to stabilize the cup during precise placement",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "define drinking edge",
+                "bound the opening",
+                "support pouring",
+                "provide top-edge contact"
+            ],
+            "semantic_description": "The rim is a thin circular lip at the top opening, appearing white and slightly more reflective than the body, with a hard smooth plastic finish.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.8011128902435303,
+                    "position": [
+                        0.01315297360997647,
+                        0.10776163084665313,
+                        0.11290139239281416
+                    ],
+                    "orientation": {
+                        "w": 0.5442218197844726,
+                        "xyz": [
+                            0.7687975119755719,
+                            -0.32556121854563047,
+                            -0.08235829909445593
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.8616986870765686,
+                    "position": [
+                        0.0663549144519493,
+                        0.09587186767021194,
+                        0.134120705537498
+                    ],
+                    "orientation": {
+                        "w": 0.07928192493595689,
+                        "xyz": [
+                            -0.6469158432048341,
+                            -0.6101755761356946,
+                            0.4504442634516521
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.8331648111343384,
+                    "position": [
+                        -0.1035967554198578,
+                        -0.04479152517160401,
+                        0.1310955761000514
+                    ],
+                    "orientation": {
+                        "w": 0.2770296217783393,
+                        "xyz": [
+                            0.7011455115380604,
+                            0.5300223748714392,
+                            0.38823426232497915
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.7730789184570312,
+                    "position": [
+                        -0.07949195906985551,
+                        0.07078647805610672,
+                        0.13061232399195433
+                    ],
+                    "orientation": {
+                        "w": 0.16435759946590067,
+                        "xyz": [
+                            0.06145097624711972,
+                            0.8906630058606534,
+                            -0.41943982525190415
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.6411190629005432,
+                    "position": [
+                        -0.049621631507761776,
+                        0.09369423432508484,
+                        0.14849238377064466
+                    ],
+                    "orientation": {
+                        "w": 0.13370190607370455,
+                        "xyz": [
+                            -0.5106145196286261,
+                            0.7859990094622111,
+                            -0.32187290936192364
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "interior of cup",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold liquid",
+                "provide interior container surface",
+                "receive mouthwash",
+                "guide pouring out"
+            ],
+            "semantic_description": "The cup interior is a white glossy plastic inner cavity with a smooth hard surface, occupying the inside upper opening and tapering downward.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom base",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support standing",
+                "provide stability",
+                "contact tabletop",
+                "close the container bottom"
+            ],
+            "semantic_description": "The bottom base is a circular white plastic underside with a glossy smooth hard finish, located at the lowest end and slightly recessed within the base ring.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d8e885eb04f968acd0244e7f8e3a4cb37eee676a1597dc0d98ba1197b98472a
+size 3784280