Add asset bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43

.gitattributes

@@ -5718,4 +5718,5 @@ dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/afforda
 dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/fd92c3189e125d03ae2ca25a172123ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/fff8812c7c01587ab652ec83c3ee6c59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/01842359953056e0890da6c917a0b3ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/affordance/affordance_annot.json

@@ -0,0 +1,276 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the dental floss case",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the lid to stabilize the case while closing",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "cover the floss compartment",
+                "open for access",
+                "protect the floss inside",
+                "provide upper enclosure"
+            ],
+            "semantic_description": "Rounded mint-green plastic lid with a smooth matte-to-satin finish, hard texture, and slightly domed oval shape forming the upper half of the small clamshell case.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.973717451095581,
+                    "position": [
+                        -0.021123160142451525,
+                        -0.06258705502841622,
+                        0.1333445878699422
+                    ],
+                    "orientation": {
+                        "w": 0.23877399046149814,
+                        "xyz": [
+                            -0.9707919015712128,
+                            0.005050495821438322,
+                            0.022903227169951853
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9726768136024475,
+                    "position": [
+                        -0.03355918126180768,
+                        0.011355740367434919,
+                        0.14233258087188005
+                    ],
+                    "orientation": {
+                        "w": 0.04588691994995736,
+                        "xyz": [
+                            -0.001135412158078565,
+                            0.9978059602768258,
+                            -0.04771128852566953
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9711275100708008,
+                    "position": [
+                        -0.02130930358543992,
+                        0.003893963643349707,
+                        0.14460415858775377
+                    ],
+                    "orientation": {
+                        "w": 0.008808336094547892,
+                        "xyz": [
+                            -0.9994647522722695,
+                            -0.015434481798376996,
+                            0.02746632396575619
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9698761105537415,
+                    "position": [
+                        -0.027626669500023127,
+                        0.005654753069393337,
+                        0.14069644827395678
+                    ],
+                    "orientation": {
+                        "w": 0.011431878046220352,
+                        "xyz": [
+                            0.016508656634181024,
+                            0.9997864132255435,
+                            -0.004889207509818566
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base to pick up the dental floss case",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the base while opening the lid",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the base to dispense floss from the open case",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "house the floss spool",
+                "support the whole case",
+                "provide main grasp surface",
+                "anchor the lid hinge"
+            ],
+            "semantic_description": "Rounded mint-green plastic base with a smooth matte-to-satin finish, hard texture, and shallow oval box shape forming the larger lower half of the compact case.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.9824677109718323,
+                    "position": [
+                        0.11478942213580012,
+                        0.053132203756831586,
+                        -0.02192805428057909
+                    ],
+                    "orientation": {
+                        "w": 0.17213395016546093,
+                        "xyz": [
+                            0.6613671443094338,
+                            0.175267004207024,
+                            -0.7086923739287125
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9821463227272034,
+                    "position": [
+                        0.11384741542860866,
+                        0.0661023979773745,
+                        -0.019391496665775776
+                    ],
+                    "orientation": {
+                        "w": 0.17662698212964853,
+                        "xyz": [
+                            0.6643850778894962,
+                            0.19203956783504417,
+                            -0.7003686042701164
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.9815696477890015,
+                    "position": [
+                        0.1138543295674026,
+                        0.0516377812018618,
+                        -0.021092900075018406
+                    ],
+                    "orientation": {
+                        "w": 0.7108382590907009,
+                        "xyz": [
+                            0.15418862102162748,
+                            -0.6678057113615112,
+                            0.15802015831309812
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.9813481569290161,
+                    "position": [
+                        0.12802886543795466,
+                        -0.012676788144744933,
+                        -0.017489594407379627
+                    ],
+                    "orientation": {
+                        "w": 0.0781263157561609,
+                        "xyz": [
+                            -0.6993122972385504,
+                            -0.006916937064121997,
+                            0.7105003488380294
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9807807803153992,
+                    "position": [
+                        0.1222866433672607,
+                        0.004734602407552302,
+                        -0.026239349506795406
+                    ],
+                    "orientation": {
+                        "w": 0.73706773853555,
+                        "xyz": [
+                            0.0147238699558229,
+                            -0.6749670358998159,
+                            0.03055907250279469
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.9804476499557495,
+                    "position": [
+                        0.12225496349856257,
+                        0.01022847683634609,
+                        -0.01998878736048937
+                    ],
+                    "orientation": {
+                        "w": 0.7239899293889315,
+                        "xyz": [
+                            0.01622321292291353,
+                            -0.6895918181747679,
+                            0.0062059497488514866
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9802576899528503,
+                    "position": [
+                        0.12272853730246425,
+                        0.028604240505956113,
+                        -0.027541174553334713
+                    ],
+                    "orientation": {
+                        "w": 0.7507600132313125,
+                        "xyz": [
+                            0.06216799387342555,
+                            -0.6572437978022874,
+                            -0.022915787595002932
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "dental floss strand",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "clean between teeth",
+                "dispense for use",
+                "cut to length after pulling",
+                "provide the actual flossing medium"
+            ],
+            "semantic_description": "Thin white floss strand with a soft flexible threadlike form and slight sheen, lying across the interior of the case as the small consumable cleaning element.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch tab",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front latch tab to open the case",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the tab area to orient the case front",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "secure the case closed",
+                "provide opening point",
+                "indicate front orientation"
+            ],
+            "semantic_description": "Small mint-green plastic tab at the front edge of the base, with a smooth hard surface and short protruding rectangular shape used as the closure catch.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:535e80b653d90038d2187a71124cef0db266deac77c09246946f42222e461aa4
+size 3780796

dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/dental_floss_035.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>YES</PartSegChecker>