Add asset bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b

.gitattributes

@@ -5567,3 +5567,4 @@ dataset/bathroom_supplies/bath_products/211782bb4d9c5681a0e07e779ce94df1/afforda
 dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/affordance/affordance_annot.json

@@ -0,0 +1,102 @@
+{
+    "affordances": [
+        {
+            "part_name": "top lid panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid from opposite sides to lift or steady the container",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the top while repositioning the whole box on a surface",
+                    "confidence": 0.65
+                }
+            ],
+            "functional_labels": [
+                "cover the container opening",
+                "form the top enclosure surface",
+                "help protect contents"
+            ],
+            "semantic_description": "Large rounded-rectangular top lid panel with a medium blue glossy finish, smooth surface, and slightly raised cushioned-looking profile, positioned at the very top of the container.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.17164672911167145,
+                    "position": [
+                        -0.03581119002774358,
+                        0.016488730208948255,
+                        0.12542397854849696
+                    ],
+                    "orientation": {
+                        "w": 0.03160482456034717,
+                        "xyz": [
+                            0.01856019545782255,
+                            -0.9993183909941653,
+                            -0.0044054091648791935
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.24316412210464478,
+                    "position": [
+                        -0.01991513604298234,
+                        0.01676640217192471,
+                        0.12350736139342189
+                    ],
+                    "orientation": {
+                        "w": 0.001159027948469564,
+                        "xyz": [
+                            0.9984992936731393,
+                            0.010409853783671826,
+                            0.05375362436765648
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "main body and bottom",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls around the body to pick up and move the container",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the lower body to stabilize it while opening or closing the lid",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain stored contents",
+                "support the lid",
+                "provide structural body",
+                "rest on a flat surface"
+            ],
+            "semantic_description": "Rounded rectangular lower body with glossy blue side walls and a pale light blue to white smooth bottom panel, medium-sized and thick-walled, forming the main container volume.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "ornamental openwork side wall band",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative side-wall detailing",
+                "form an ornamental openwork band around the upper body",
+                "visually accent the container sides"
+            ],
+            "semantic_description": "Thin continuous band around the upper side perimeter, appearing as a dark blue glossy openwork strip with repeating scroll or swirl cutout-like motifs, located between the lid and lower body.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Openwork band is mislabeled decorative-only and ungraspable; it is a real sidewall rim usable for gripping/stabilizing."
+    }
+}

dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5782148fd1e940172da896a5ee1ef6a6e201e130ea8608608fb4ed73166d9809
+size 3820980

dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/soap_dish_037.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>NO: {"summary":"Decorative side wall and bottom tray are merged; thin rim split is not a meaningful part.","merge_groups":[{"colors":["Green","Burnt Orange"],"target_part":"top tray surface","reason":"orange is just a thin boundary strip"}]}</PartSegChecker>