Add asset bathroom_supplies/personal_care/b97abd3bed1253cb88af1a7a1f737b67

.gitattributes

@@ -5823,3 +5823,4 @@ dataset/bathroom_supplies/personal_care/b197c1d5f1745ef388eda8f73a21d514/afforda
 dataset/bathroom_supplies/personal_care/b7ad10e1bdc95c6fb54e8bba5bd5d899/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/b97abd3bed1253cb88af1a7a1f737b67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/b97abd3bed1253cb88af1a7a1f737b67/affordance/affordance_annot.json

@@ -0,0 +1,176 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup opening and upper interior",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly contact the upper interior/opening area to stabilize the cup during inspection",
+                    "confidence": 0.22
+                },
+                {
+                    "scenario": "avoid using this thin top area as a primary gripper target during lifting",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide access to the cup interior",
+                "define the drinking opening",
+                "allow filling and pouring"
+            ],
+            "semantic_description": "White smooth plastic upper opening region including the top lip and visible inner wall near the mouth of the cup, with a rounded slightly glossy edge at the top.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cup body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewall to pick up and carry the cup",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to steady the cup while filling or emptying",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main grasp surface",
+                "form the cup sidewall",
+                "support upright holding"
+            ],
+            "semantic_description": "Tapered white plastic cup body with a smooth matte-to-satin hard surface, forming the large main vessel in the middle with plain sides and no visible decoration.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.8772756457328796,
+                    "position": [
+                        -0.001878463546745479,
+                        -0.02489033948222641,
+                        -0.10991942184045911
+                    ],
+                    "orientation": {
+                        "w": 0.14715792682714504,
+                        "xyz": [
+                            0.0016150489550365303,
+                            0.12669847948005108,
+                            0.9809635219957226
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.8451629281044006,
+                    "position": [
+                        -0.009781112312339246,
+                        -0.009933906156220473,
+                        -0.11206325935199857
+                    ],
+                    "orientation": {
+                        "w": 0.17580662541725517,
+                        "xyz": [
+                            0.04137081410585903,
+                            0.03956853908483582,
+                            0.9827587785994626
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.8336817026138306,
+                    "position": [
+                        -0.0014750453410670161,
+                        -0.044849889833130874,
+                        -0.10134717868641019
+                    ],
+                    "orientation": {
+                        "w": 0.9714838705201233,
+                        "xyz": [
+                            -0.23235069622348323,
+                            -0.0002486505453832555,
+                            -0.047245967622742344
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.8288169503211975,
+                    "position": [
+                        -0.0040327528258785605,
+                        -0.02552037920395378,
+                        -0.10710326628759503
+                    ],
+                    "orientation": {
+                        "w": 0.12082258203423266,
+                        "xyz": [
+                            -0.04536050171388563,
+                            -0.13626322880797181,
+                            -0.9822304520985246
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.8201425075531006,
+                    "position": [
+                        0.011394034721888602,
+                        -0.054013493019738235,
+                        -0.09935024427250028
+                    ],
+                    "orientation": {
+                        "w": 0.9482451579149448,
+                        "xyz": [
+                            -0.27097949719393144,
+                            -0.023485357382128202,
+                            0.16385869088949487
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.8195966482162476,
+                    "position": [
+                        -0.022243222570978105,
+                        -0.07354092459718231,
+                        -0.08352280454710126
+                    ],
+                    "orientation": {
+                        "w": 0.9137860186883883,
+                        "xyz": [
+                            -0.38821846986522157,
+                            0.08051999084283701,
+                            -0.08830664063250866
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base of cup",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom foot to lift or reorient the cup from below",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the base to stabilize the cup during precise placement",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "support standing",
+                "stabilize the cup on flat surfaces",
+                "reinforce the bottom",
+                "provide a lower contact area"
+            ],
+            "semantic_description": "Small circular beige-white plastic base with a smooth slightly glossy hard finish, positioned at the bottom as a narrow foot ring with faint printed markings visible on some views.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/b97abd3bed1253cb88af1a7a1f737b67/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34bbefc69eb41c8de64967a64ed5c2fb5bc90f2d0d7a8422c53c4b4ac6caf57c
+size 3785916