Add asset bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e

.gitattributes

@@ -5798,3 +5798,4 @@ dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/afforda
 dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/5353f96e68615fbe8ab85bc57e2dad0f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/affordance/affordance_annot.json

@@ -0,0 +1,96 @@
+{
+    "affordances": [
+        {
+            "part_name": "inner cavity",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold mouthwash",
+                "provide liquid volume",
+                "receive poured liquid",
+                "support rinsing use"
+            ],
+            "semantic_description": "The inner bowl is a translucent amber-orange plastic cavity with a glossy smooth hard surface, occupying the cup interior and forming the main liquid-holding space.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cup body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall to pick up and move the cup",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize the cup while filling or emptying",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp the tapered body from the lower half for transport",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain liquid",
+                "support the cup structure",
+                "stabilize when standing"
+            ],
+            "semantic_description": "The main body is translucent amber-orange plastic with a glossy smooth hard finish, decorated with embossed floral and curved patterns on a tapered rounded cup wall that forms most of the object's exterior.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top rim to lift or reposition the empty cup",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "grasp the rim to orient the cup before pouring",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the rim to stabilize the cup during placement",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "provide drinking edge",
+                "guide pouring",
+                "stiffen the opening",
+                "define the cup opening"
+            ],
+            "semantic_description": "The rim is a thick circular lip of the same translucent amber-orange plastic, with a glossy smooth hard surface around the top edge and a slightly darker banded appearance.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.6786631345748901,
+                    "position": [
+                        0.1109059751033783,
+                        -0.01467736263293773,
+                        0.08365583280101418
+                    ],
+                    "orientation": {
+                        "w": 0.375323367820133,
+                        "xyz": [
+                            -0.4222735632911561,
+                            -0.7383204925983997,
+                            0.3683751586668123
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8592428ba0d0d94cdf2f9fec41afc751e9e5e8ecf8b208d18f1b34ea2059dea
+size 3782224

dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/mouthwash_cup_007.urdf

@@ -52,6 +52,7 @@
                <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>