diff --git a/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/affordance/affordance_annot.json b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/affordance/affordance_annot.json
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@@ -0,0 +1,77 @@
+{
+ "affordances": [
+ {
+ "part_name": "bottle body",
+ "mask_color": "Orange",
+ "graspable": true,
+ "grasp_scenarios": [
+ {
+ "scenario": "grasp the bottle body from the sides to pick up the dispenser bottle",
+ "confidence": 0.96
+ },
+ {
+ "scenario": "hold the bottle body steady while pressing the pump with another hand or tool",
+ "confidence": 0.9
+ },
+ {
+ "scenario": "grasp the bottle body to reposition or place it on a surface",
+ "confidence": 0.94
+ }
+ ],
+ "functional_labels": [
+ "contain liquid",
+ "main grasp surface",
+ "support the pump assembly",
+ "provide standing stability"
+ ],
+ "semantic_description": "Large rectangular black plastic bottle body with a smooth slightly glossy surface, flat base, slightly tapered sides, and white printed logo/text on the front face.",
+ "id": 4
+ },
+ {
+ "part_name": "pump stem",
+ "mask_color": "Pink",
+ "graspable": false,
+ "grasp_scenarios": [],
+ "functional_labels": [
+ "support the pump head",
+ "house pump mechanism",
+ "transfer motion during pumping",
+ "connect upper actuator to bottle opening"
+ ],
+ "semantic_description": "Short black cylindrical plastic pump stem below the top actuator, with a smooth slightly glossy surface, centered on the bottle top.",
+ "id": 8
+ },
+ {
+ "part_name": "pump collar",
+ "mask_color": "Purple",
+ "graspable": false,
+ "grasp_scenarios": [],
+ "functional_labels": [
+ "connect pump to bottle",
+ "secure the dispenser assembly",
+ "seal the bottle opening",
+ "support pump movement"
+ ],
+ "semantic_description": "Narrow black plastic ring at the bottle neck with a smooth slightly glossy surface, encircling the base of the upper pump assembly.",
+ "id": 5
+ },
+ {
+ "part_name": "pump head / dispenser spout",
+ "mask_color": "Red",
+ "graspable": false,
+ "grasp_scenarios": [],
+ "functional_labels": [
+ "dispense liquid when pressed",
+ "provide a press target",
+ "direct output through the spout",
+ "serve as the pump actuator"
+ ],
+ "semantic_description": "Black plastic top actuator with a smooth slightly glossy surface, including a broad pressable head and short forward-projecting curved spout.",
+ "id": 0
+ }
+ ],
+ "quality_check": {
+ "success": true,
+ "message": "YES"
+ }
+}
\ No newline at end of file
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+{
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diff --git a/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mesh/hand_sanitizer_026_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mesh/hand_sanitizer_026_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f2b4143c5f1a05623d2727db3884fdabee6d2b7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mesh/hand_sanitizer_026_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27df9c062db7cbdfb6b5960529b308dc37c718a41c2eb098017578033e34fffd
+size 3275703
diff --git a/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d3d651130487148340ebc58c0f0e14217394da
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_026_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd hand_sanitizer_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f2b4143c5f1a05623d2727db3884fdabee6d2b7
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3275703
diff --git a/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/hand_sanitizer_026.xml b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/hand_sanitizer_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..11ff96394ccaa09d3e885b958cafaf0d51d9554e
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/hand_sanitizer_026.xml
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026.obj b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc9541aa19b843327129d8cec5962b66f3d2a91a
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 37455981
diff --git a/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision.obj b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9182a240c455d32c53836d59ebed97583029dc81
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision.obj
@@ -0,0 +1,4264 @@
+# https://github.com/mikedh/trimesh
+
+o hand_sanitizer_026_collision.obj
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diff --git a/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_0.obj b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b7c91e5c5c3f60f630c9fee7a6fe67d7e026149
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_1.obj b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8a8985b6d6a4bbaebbe3274053ffa4e0ef5f042
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_2.obj b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3625cf1057eaa462f979d63accaba123dacb435b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_2.obj
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diff --git a/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_3.obj b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..669b9ccc11b574806f5ace2a484991059d7fa967
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_3.obj
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diff --git a/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_4.obj b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48bb5afca01b8d99eadb825616bffbf8a33e3621
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/mjcf/mesh/hand_sanitizer_026_collision_4.obj
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