Add asset bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee

.gitattributes

@@ -5707,3 +5707,4 @@ dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/afforda
 dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/affordance/affordance_annot.json

@@ -0,0 +1,181 @@
+{
+    "affordances": [
+        {
+            "part_name": "side body of sponge",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer sidewall to pick up the sponge",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch the sidewall to hold and reposition the sponge during cleaning",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "stabilize the sponge by holding the side during placement or storage",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "provide compressible body",
+                "contact side surface during cleaning",
+                "stabilize the sponge during use"
+            ],
+            "semantic_description": "Thick pale yellow foam or rubbery sidewall with a matte finish, soft compressible texture, rounded cylindrical ring shape, and medium size forming the outer perimeter of the sponge.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top perforated face of sponge",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press on the top face while the opposite side is supported to control the sponge during wiping",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "pinch the top face and side together to lift the sponge",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "provide broad contact surface",
+                "distribute pressure during cleaning",
+                "allow liquid and debris to pass through surface perforations"
+            ],
+            "semantic_description": "Flat pale yellow top face with many small circular perforations, matte finish, soft spongy texture, and a broad donut-shaped surface surrounding the center opening.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.01705201342701912,
+                    "position": [
+                        0.01693147035257425,
+                        -0.01883341283246409,
+                        0.11545189443859272
+                    ],
+                    "orientation": {
+                        "w": 0.05859861976437115,
+                        "xyz": [
+                            -0.6859697284817867,
+                            0.7232940908515677,
+                            0.05345457424335835
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.715272068977356,
+                    "position": [
+                        0.005680297836079262,
+                        -0.1230304623459233,
+                        -0.007673630287172273
+                    ],
+                    "orientation": {
+                        "w": 0.4974407746929704,
+                        "xyz": [
+                            -0.5292770759218902,
+                            0.45041177464402704,
+                            0.5191798203305381
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.47569385170936584,
+                    "position": [
+                        -0.11544013781531248,
+                        0.043661559888278134,
+                        -0.0009902534948196262
+                    ],
+                    "orientation": {
+                        "w": 0.11095691785890834,
+                        "xyz": [
+                            0.6816034990006727,
+                            -0.11876786996886035,
+                            0.7134419567087087
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner hole surface",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert slim gripper fingers into the center hole to lift or orient the sponge",
+                    "confidence": 0.59
+                },
+                {
+                    "scenario": "use the inner rim as a locating feature for manipulation",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "provide central opening",
+                "support alignment",
+                "reduce material mass",
+                "allow finger or tool access through the center"
+            ],
+            "semantic_description": "Cylindrical inner ring surface in pale yellow material with a matte finish, soft texture, and central position forming the through-hole of the sponge.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_31": {
+                    "confidence": 0.008268922567367554,
+                    "position": [
+                        -0.000677354822983034,
+                        0.003538726785336621,
+                        -0.10547552283969708
+                    ],
+                    "orientation": {
+                        "w": 0.7035690977843003,
+                        "xyz": [
+                            -0.020247170426547983,
+                            -0.05199532163509557,
+                            0.7084328219815671
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.0075584035366773605,
+                    "position": [
+                        0.0004342898173490539,
+                        0.000544960013939999,
+                        -0.10659427221980877
+                    ],
+                    "orientation": {
+                        "w": 0.6765963565491515,
+                        "xyz": [
+                            0.04067767181335961,
+                            0.038593572340864246,
+                            0.7342160673086833
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.013345298357307911,
+                    "position": [
+                        0.008553112726076506,
+                        -0.011170812926138751,
+                        0.10361083570751362
+                    ],
+                    "orientation": {
+                        "w": 0.08902188920682227,
+                        "xyz": [
+                            -0.030780901945935597,
+                            -0.9930109653510472,
+                            -0.07111161656173597
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/bath_products/f08fb3e68c54555898ff8b1a098df5ee/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8a4c786571f993d18d9ff7c66346f9d9a2201d59d478a0d8d7c2a11074ffdd3
+size 3780436