Add asset bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747

.gitattributes

@@ -8007,3 +8007,4 @@ dataset/bathroom_supplies/personal_care/862cf5783c8d57f98695988773455071/afforda
 dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/89926dd92a4e5c6eab77c2bdf33fb597/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/affordance/affordance_annot.json

@@ -0,0 +1,153 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to pick up and move the cup",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize the cup during placement",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main structure",
+                "support side grasping",
+                "connect rim handle and base"
+            ],
+            "semantic_description": "The main cup body is a medium-sized tapered cylindrical plastic shell with a glossy smooth hard surface, orange-peach patchwork graphics, and it forms most of the vessel below the rim.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle opening to lift the cup",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the handle to orient or reposition the cup",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the cup",
+                "help orient the cup",
+                "keep fingers away from contents"
+            ],
+            "semantic_description": "The handle is a small curved loop on the cup side, made of hard smooth glossy plastic in a pale peach tone matching the rim, with a rounded comfortable profile.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.42027390003204346,
+                    "position": [
+                        0.00012126765795983374,
+                        0.16593369375914335,
+                        0.04727258486673236
+                    ],
+                    "orientation": {
+                        "w": 0.1662106203357192,
+                        "xyz": [
+                            0.13446193132368608,
+                            0.7147341146775582,
+                            -0.6659197879838128
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the thick rim to pick up or steady the empty cup",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "grasp near the small pouring lip on the rim to orient pouring direction",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "define drinking edge",
+                "stiffen the opening",
+                "guide pouring at the small lip",
+                "protect the cup mouth"
+            ],
+            "semantic_description": "The rim is a thick rounded ring around the top opening with a small pouring lip, appearing pale cream-peach plastic with a glossy smooth hard finish and slightly enlarged edge profile.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_47": {
+                    "confidence": 0.7213590741157532,
+                    "position": [
+                        0.06756522544310428,
+                        0.0984495086595416,
+                        0.10733725829049945
+                    ],
+                    "orientation": {
+                        "w": 0.5060342012825607,
+                        "xyz": [
+                            0.8110688965454406,
+                            0.22766579570451528,
+                            -0.18510785411513964
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner cavity",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold liquid",
+                "contain liquid volume",
+                "receive poured liquid",
+                "provide interior vessel space"
+            ],
+            "semantic_description": "The inner cavity is the recessed interior at the top, showing a smooth glossy hard plastic surface with warm orange coloration on the inside and a concave liquid-holding shape.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "contact the flat bottom with a suction gripper to pick up the cup",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "press on the base to stabilize the cup against a surface during manipulation",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support standing",
+                "stabilize the cup on surfaces",
+                "close the bottom",
+                "provide resting contact area"
+            ],
+            "semantic_description": "The base is the rounded circular bottom panel, orange-toned and smooth with a glossy hard plastic finish, positioned at the lowest end as the cup's support surface.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0b2899d01658a092510ad7ef06301750f9680356e8b5f3bca746150608b83f3
+size 3783196