Add asset bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad

.gitattributes

@@ -5555,3 +5555,4 @@ dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/afforda
 dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/0cf0b81511545f4ea327a79011fd13c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/affordance/affordance_annot.json

@@ -0,0 +1,311 @@
+{
+    "affordances": [
+        {
+            "part_name": "pump spout",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the pump spout to rotate the dispenser head for orientation or unlocking",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "lightly hold the spout to steady the pump head during manipulation",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "dispense liquid",
+                "direct liquid flow",
+                "indicate outlet direction"
+            ],
+            "semantic_description": "Small white plastic pump spout with a smooth glossy surface, curved and projecting outward from the top dispenser head above the bottle neck.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9441433548927307,
+                    "position": [
+                        -0.0023346860834863037,
+                        0.08032360370270908,
+                        0.2040956597775221
+                    ],
+                    "orientation": {
+                        "w": 0.020424452572537413,
+                        "xyz": [
+                            0.023741117657710083,
+                            0.8810733955670661,
+                            -0.47194159881641534
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.9320063591003418,
+                    "position": [
+                        0.01573438398190774,
+                        0.09124367381446064,
+                        0.19420902244746685
+                    ],
+                    "orientation": {
+                        "w": 0.044771679145483106,
+                        "xyz": [
+                            -0.058880019696435255,
+                            -0.8544872831733428,
+                            0.5141790767058496
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9229849576950073,
+                    "position": [
+                        0.006602107227081433,
+                        0.08488394762389362,
+                        0.2005628328770399
+                    ],
+                    "orientation": {
+                        "w": 0.4875431103007966,
+                        "xyz": [
+                            0.8726766338405801,
+                            0.0017210248115623328,
+                            -0.027096981759922093
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pump collar",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the ribbed collar to twist or unscrew the pump assembly",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the neck area at the collar to stabilize the bottle during pump manipulation",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "attach pump to bottle",
+                "seal the bottle opening",
+                "support pump mechanism",
+                "provide a twisting interface"
+            ],
+            "semantic_description": "Short white plastic collar around the bottle neck below the pump head, with a ribbed texture and glossy finish.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pump stem",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect pump head to collar",
+                "transfer pump motion",
+                "support dispensing mechanism"
+            ],
+            "semantic_description": "Small white plastic stem section visible between the pump spout assembly and the collar, smooth and glossy and narrow in shape.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottle body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottle body from the sides to pick up and move the bottle",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the bottle body while pressing the pump with another manipulator",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the body to orient the bottle for dispensing or placement",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain liquid product",
+                "main grasp surface",
+                "support dispensing",
+                "provide structural enclosure",
+                "stand upright on base"
+            ],
+            "semantic_description": "Large light pink plastic bottle body with a smooth glossy surface, teardrop-shaped and slightly flattened, forming most of the container.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9029761552810669,
+                    "position": [
+                        -0.002386591018876061,
+                        -0.013790053548291326,
+                        -0.180237652733922
+                    ],
+                    "orientation": {
+                        "w": 0.03596514537786439,
+                        "xyz": [
+                            -0.020504181870322335,
+                            -0.04008309422369938,
+                            -0.9983383356363873
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8970664143562317,
+                    "position": [
+                        0.004010961303720251,
+                        0.016783593920990825,
+                        -0.17737984843552113
+                    ],
+                    "orientation": {
+                        "w": 0.9997734343639184,
+                        "xyz": [
+                            0.018755806988093985,
+                            -0.009448495181345828,
+                            0.003467792267240991
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.8875777125358582,
+                    "position": [
+                        0.00231898101628758,
+                        -0.0974677309859544,
+                        -0.14048451371490955
+                    ],
+                    "orientation": {
+                        "w": 0.9118553506924361,
+                        "xyz": [
+                            -0.40948750866467626,
+                            0.020726595024466055,
+                            0.0202535902956002
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8851207494735718,
+                    "position": [
+                        0.0010660821862984449,
+                        -0.02004655939526856,
+                        -0.17739847488701344
+                    ],
+                    "orientation": {
+                        "w": 0.9995295382481634,
+                        "xyz": [
+                            -0.023470802482289072,
+                            0.019576561702272066,
+                            0.0025655081695417255
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8792133331298828,
+                    "position": [
+                        0.004017876839498058,
+                        0.02106052334420383,
+                        -0.17573884315788746
+                    ],
+                    "orientation": {
+                        "w": 0.9992642609292498,
+                        "xyz": [
+                            0.03316262178305314,
+                            0.0057324933906572895,
+                            0.018393364714489196
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8768643736839294,
+                    "position": [
+                        0.0018780667160172015,
+                        0.022880256874486804,
+                        -0.17478144355118275
+                    ],
+                    "orientation": {
+                        "w": 0.9994295093826715,
+                        "xyz": [
+                            0.03229099570916149,
+                            0.009896279589352797,
+                            -0.00010498339024799319
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8768590688705444,
+                    "position": [
+                        0.0036482186114881188,
+                        0.014129117829725146,
+                        -0.1765741128474474
+                    ],
+                    "orientation": {
+                        "w": 0.9996308281476387,
+                        "xyz": [
+                            0.015636250530193782,
+                            0.011468893325065843,
+                            0.01903101605593478
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front label area",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display brand information",
+                "provide product identification",
+                "indicate front orientation"
+            ],
+            "semantic_description": "Large printed front label area on the bottle face, oval/teardrop-shaped with Dove branding and smaller product text, visually distinct from the surrounding light pink body.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back/side label area",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display product information",
+                "indicate back or side orientation",
+                "provide branding or informational panel area"
+            ],
+            "semantic_description": "Large printed label panel on the back or side faces of the bottle, smooth and visually distinct from the surrounding light pink body, used for product information.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom edge to lift or reposition the bottle from a surface",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the base to stabilize the bottle during placement or inspection",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "support standing",
+                "stabilize the container",
+                "provide placement contact"
+            ],
+            "semantic_description": "Flattened oval bottom area of the light pink bottle, smooth glossy plastic at the lowest end for stable standing.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color/part identities are swapped; front and back label areas are mislabeled relative to views."
+    }
+}

dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f811133d843a3fbc7621581812fac3d316d78484f45a120a35237bf1f09e39dd
+size 3786644