Add asset bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f

.gitattributes

@@ -5859,3 +5859,4 @@ dataset/bathroom_supplies/personal_care/dab74c710a055c5ca37c3b1c61f305b4/afforda
 dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/de2585cc44bb573982a59a874158fa0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/dee5cb6ba6355d528864e8579f170e32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/affordance/affordance_annot.json

@@ -0,0 +1,174 @@
+{
+    "affordances": [
+        {
+            "part_name": "inner cavity of cup",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain mouthwash",
+                "hold liquid volume",
+                "provide drinking/rinsing space",
+                "guide liquid toward the opening"
+            ],
+            "semantic_description": "Smooth white to translucent plastic-looking inner cup surface with a glossy finish, hard slick texture, and tapered cylindrical shape forming the cup's interior volume near the top opening.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cup wall",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup wall from the sides to pick up the cup",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the cup wall to stabilize it while filling or pouring",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grip the sidewall to reposition the empty cup on a surface",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain liquid",
+                "provide side support",
+                "form the cup structure",
+                "stabilize during use"
+            ],
+            "semantic_description": "The main outer body is a tapered cylindrical wall made of translucent white plastic with a glossy smooth hard surface, medium size, wrapping the sides from rim to base.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9615360498428345,
+                    "position": [
+                        -0.004227819386869669,
+                        0.0006526336364913732,
+                        -0.11418548552319407
+                    ],
+                    "orientation": {
+                        "w": 0.9861346306343033,
+                        "xyz": [
+                            -0.011309898157532373,
+                            0.02462421816721816,
+                            -0.16371995708240747
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9601368308067322,
+                    "position": [
+                        -0.003938391106203198,
+                        -0.0031898919260129333,
+                        -0.11857694713398814
+                    ],
+                    "orientation": {
+                        "w": 0.9877187812237365,
+                        "xyz": [
+                            -0.01594235726996855,
+                            0.013181888950795861,
+                            -0.15486667900572698
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9598071575164795,
+                    "position": [
+                        -0.0031680967658758163,
+                        0.0019885750371031463,
+                        -0.1167602795176208
+                    ],
+                    "orientation": {
+                        "w": 0.9957263491194582,
+                        "xyz": [
+                            -0.00905386895608261,
+                            0.020424116468520048,
+                            -0.08960982419713706
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9593303203582764,
+                    "position": [
+                        -0.005421877838671207,
+                        0.00223432551138103,
+                        -0.11707558063790202
+                    ],
+                    "orientation": {
+                        "w": 0.8148874771119894,
+                        "xyz": [
+                            0.004166683938446083,
+                            0.017395363162317046,
+                            -0.5793431105411234
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9580994248390198,
+                    "position": [
+                        -0.0025565852411091328,
+                        -0.00164541054982692,
+                        -0.1189410868100822
+                    ],
+                    "orientation": {
+                        "w": 0.7878953548239748,
+                        "xyz": [
+                            0.0012003448327325725,
+                            0.0003099476769690135,
+                            -0.6158079026380892
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom base",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the bottom edge to lift or reposition the cup when side access is limited",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "grasp the base to invert or orient the cup during handling",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "support upright standing",
+                "provide bottom stability",
+                "distribute load on a surface",
+                "close the container bottom"
+            ],
+            "semantic_description": "A circular translucent white plastic base with a glossy smooth hard finish sits at the bottom of the cup, slightly thicker-looking and flatter than the sidewall.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.08054374903440475,
+                    "position": [
+                        0.12295586708933115,
+                        -0.03316752321552485,
+                        -0.011814273428171873
+                    ],
+                    "orientation": {
+                        "w": 0.09341708820898675,
+                        "xyz": [
+                            -0.66540302345358,
+                            0.053758351436050344,
+                            0.7386623746071456
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c622e38169a9f306046deb412a2787180a1c37fb82420adce18ad5e0856cdb6b
+size 3780912