Add asset bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695

.gitattributes

@@ -7978,3 +7978,4 @@ dataset/bathroom_supplies/personal_care/72241fd24e9255718d40c02fa2cda593/afforda
 dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/72a59936e82f587da982dee098a3eb02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7312ad1efe5553e7ab3f2947fc438272/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/affordance/affordance_annot.json

@@ -0,0 +1,165 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall to pick up and move the small plastic cup",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp near the upper sidewall below the rim to stabilize the cup while filling or emptying",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the tapered body from opposite sides to reorient the cup upright",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main grasp surface",
+                "support drinking or rinsing",
+                "support standing on a surface"
+            ],
+            "semantic_description": "A small white plastic disposable cup with a smooth rolled rim, a tapered shape, and many horizontal ribs around most of the outer sidewall for grip and stiffness. The surface is slightly glossy, and one side shows a small raised brand mark near the lower body.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9664375185966492,
+                    "position": [
+                        -0.04582432971801609,
+                        -0.016411430959124118,
+                        -0.10959047893993556
+                    ],
+                    "orientation": {
+                        "w": 0.7656007056705986,
+                        "xyz": [
+                            -0.23072888990174173,
+                            0.1578420611617385,
+                            -0.5794010895481684
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9653299450874329,
+                    "position": [
+                        -0.0510248871287331,
+                        -0.00966361613245681,
+                        -0.10722187231294811
+                    ],
+                    "orientation": {
+                        "w": 0.600388914106325,
+                        "xyz": [
+                            0.17516891115928807,
+                            0.2051537208481019,
+                            0.7528352776030599
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9628763794898987,
+                    "position": [
+                        -0.0035079977242276073,
+                        0.0005315691669238731,
+                        -0.12548101018182933
+                    ],
+                    "orientation": {
+                        "w": 0.8297902086948621,
+                        "xyz": [
+                            0.001522648787302253,
+                            0.016374202728372755,
+                            -0.5578331081782595
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9620884656906128,
+                    "position": [
+                        -0.0029033232713118196,
+                        -0.0030512468074448407,
+                        -0.12163450638763607
+                    ],
+                    "orientation": {
+                        "w": 0.9851739980479918,
+                        "xyz": [
+                            -0.00636594643054243,
+                            0.015629981112004532,
+                            -0.17072601438157514
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9616630673408508,
+                    "position": [
+                        -0.001006346195936203,
+                        -0.0032406868995167315,
+                        -0.12030099402181804
+                    ],
+                    "orientation": {
+                        "w": 0.9855180503277857,
+                        "xyz": [
+                            -0.0006104850179556464,
+                            0.00813298844360033,
+                            -0.16937430231631725
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9615057706832886,
+                    "position": [
+                        -0.0035401376662775874,
+                        -0.0021260881912894547,
+                        -0.12676368723623455
+                    ],
+                    "orientation": {
+                        "w": 0.8156657000436055,
+                        "xyz": [
+                            -0.004338968211469269,
+                            0.01064042558383227,
+                            -0.5784093882974493
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9610849618911743,
+                    "position": [
+                        -0.0027923412853851914,
+                        -0.00398832029895857,
+                        -0.12331609497778118
+                    ],
+                    "orientation": {
+                        "w": 0.9842646393070404,
+                        "xyz": [
+                            -0.006139494968892913,
+                            0.012195615425801942,
+                            -0.17617233998472898
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9609204530715942,
+                    "position": [
+                        -0.004356252844445407,
+                        0.0024664459633640945,
+                        -0.12569893966428936
+                    ],
+                    "orientation": {
+                        "w": 0.6520814690741853,
+                        "xyz": [
+                            0.01776816149461411,
+                            -0.009714637163860229,
+                            0.7578784044633606
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask covers whole cup, not just body; description overstates details and misses visible light gray color."
+    }
+}

dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b3ae087c5bf52c44f538a6589caaebf88b169c9ec1a2097a2679281ac41ece6
+size 3777008

dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mouthwash_cup_024.urdf

@@ -57,6 +57,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>YES</PartSegChecker>