Add asset bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090

.gitattributes

@@ -5659,4 +5659,4 @@ dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/afforda
 dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a6e31dc14a7350519373879b76b831c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/a7d61197063a5b0c9a41d7f8b6a3ce4a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/affordance/affordance_annot.json

@@ -0,0 +1,222 @@
+{
+    "affordances": [
+        {
+            "part_name": "flower-shaped main body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sides of the flower body to turn, pull, or reposition the knob-like object",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the flower body to stabilize the object during mounting or adjustment",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "serve as the main structural body",
+                "provide a handhold for grasping or turning",
+                "form the visible decorative flower shape"
+            ],
+            "semantic_description": "Large flower-shaped pale pink body with five broad rounded petals, smooth glossy surface, and darker pink radial lines leading toward the center. The underside connects to a light green stem-like base and round mounting end, suggesting molded plastic or ceramic.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.963537335395813,
+                    "position": [
+                        -0.10234706060145982,
+                        -0.06315140455262735,
+                        0.08347112312912941
+                    ],
+                    "orientation": {
+                        "w": 0.08848531115517101,
+                        "xyz": [
+                            -0.8004563655808996,
+                            -0.2513927782071047,
+                            -0.5368813906032717
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9618480801582336,
+                    "position": [
+                        -0.12093514160369523,
+                        0.009978374175261706,
+                        0.08793393895030022
+                    ],
+                    "orientation": {
+                        "w": 0.5212264693003761,
+                        "xyz": [
+                            0.025936701707862882,
+                            0.8524607840936897,
+                            -0.030997851337672605
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9617570042610168,
+                    "position": [
+                        -0.09939499900792725,
+                        -0.07370594545500353,
+                        0.08776707574725151
+                    ],
+                    "orientation": {
+                        "w": 0.49242621451075697,
+                        "xyz": [
+                            -0.27705204903442054,
+                            0.8047604851417842,
+                            0.18198666693688345
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9614129662513733,
+                    "position": [
+                        -0.09129026488517411,
+                        -0.08103079005377367,
+                        0.07493158802390099
+                    ],
+                    "orientation": {
+                        "w": 0.5477364504744068,
+                        "xyz": [
+                            -0.3020745815335819,
+                            0.7643843087108638,
+                            0.15637249313617765
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9603368639945984,
+                    "position": [
+                        -0.11102752343867905,
+                        -0.041639466129709035,
+                        0.09120204299688339
+                    ],
+                    "orientation": {
+                        "w": 0.5121809095918717,
+                        "xyz": [
+                            -0.19331258820435826,
+                            0.8358172553905655,
+                            0.04135788537579676
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9603155851364136,
+                    "position": [
+                        -0.10969392911647446,
+                        -0.05546623497502878,
+                        0.08808508142828941
+                    ],
+                    "orientation": {
+                        "w": 0.518990138386338,
+                        "xyz": [
+                            -0.20563208727569166,
+                            0.8238912151734437,
+                            0.09781588061454376
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.959385335445404,
+                    "position": [
+                        -0.0878568361804355,
+                        -0.08512165799038485,
+                        0.07635802030563354
+                    ],
+                    "orientation": {
+                        "w": 0.5135614307908438,
+                        "xyz": [
+                            -0.3044544716793264,
+                            0.7715742561015076,
+                            0.2196253601019901
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9586277008056641,
+                    "position": [
+                        -0.10288344279979356,
+                        -0.052577402733732015,
+                        0.09598809853196144
+                    ],
+                    "orientation": {
+                        "w": 0.06467004932680936,
+                        "xyz": [
+                            -0.8458223950861352,
+                            -0.2118702921600163,
+                            -0.4852970636536459
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9585736989974976,
+                    "position": [
+                        -0.08939447955344804,
+                        -0.07969879760639742,
+                        0.08592580631375313
+                    ],
+                    "orientation": {
+                        "w": 0.2374996131798843,
+                        "xyz": [
+                            -0.8118594039057002,
+                            -0.24787733581629234,
+                            -0.4722658874171456
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9578195810317993,
+                    "position": [
+                        -0.09759371684049256,
+                        -0.06883304967777804,
+                        0.08577291294932365
+                    ],
+                    "orientation": {
+                        "w": 0.19445885368239654,
+                        "xyz": [
+                            -0.8198525467452907,
+                            -0.20808451154495833,
+                            -0.4967176178422556
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9559822082519531,
+                    "position": [
+                        -0.11919781522010453,
+                        0.01445300568593666,
+                        0.09240934252738953
+                    ],
+                    "orientation": {
+                        "w": 0.5061421718968381,
+                        "xyz": [
+                            0.04563075123342039,
+                            0.860717866435052,
+                            -0.03004481267902143
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "flower center decoration",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the object",
+                "represent the flower center",
+                "provide visual detail at the center"
+            ],
+            "semantic_description": "Small cluster of dark pink glossy raised stalk-like bumps at the center of the pale pink flower, resembling stylized stamens and serving as a decorative accent.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Yellow mask includes green stem/base; part name and description omit it, making part identity inaccurate."
+    }
+}

dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:170d0d6569ae9044dd344d8223ae0e0a4a17f1867fd768f807e62c7451a97ae4
+size 3778496

dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/soap_dish_009.urdf

@@ -54,6 +54,7 @@
                <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>NO: {"summary":"Decorative flower details are segmented, but the soap dish base/tray are merged despite clear functional difference.","merge_groups":[]}</PartSegChecker>