Add asset bathroom_supplies/personal_care/f7425af696e05dd7b26f39eab7a7b689

.gitattributes

@@ -5877,3 +5877,4 @@ dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/afforda
 dataset/bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f5fb41269700532a9ea4294297e942b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f6939b0f7b5a5876a771065a0f507713/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/f7425af696e05dd7b26f39eab7a7b689/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/f7425af696e05dd7b26f39eab7a7b689/affordance/affordance_annot.json

@@ -0,0 +1,312 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the dental floss case",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the lid to stabilize the case while accessing floss",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "cover the floss compartment",
+                "open for floss access",
+                "protect stored floss",
+                "provide top enclosure"
+            ],
+            "semantic_description": "Rounded white plastic lid with a smooth slightly glossy hard surface, medium-sized and hinged on the back top of the compact case.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9428626894950867,
+                    "position": [
+                        -0.023941530380398035,
+                        -0.053469374077394605,
+                        0.11849745083600283
+                    ],
+                    "orientation": {
+                        "w": 0.048757243035653756,
+                        "xyz": [
+                            0.052618081811909995,
+                            0.9749571670260384,
+                            0.21050556093024964
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9426873326301575,
+                    "position": [
+                        -0.009735527448356152,
+                        -0.049657589988783,
+                        0.11797959078103304
+                    ],
+                    "orientation": {
+                        "w": 0.016032442782166985,
+                        "xyz": [
+                            0.01957661491940056,
+                            0.9827267801930195,
+                            0.1833242821292232
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9368090629577637,
+                    "position": [
+                        -0.010384230874478817,
+                        -0.018317266600206494,
+                        0.126360890455544
+                    ],
+                    "orientation": {
+                        "w": 0.0065477189109890725,
+                        "xyz": [
+                            0.027800902555066936,
+                            0.9995675633179817,
+                            0.006994537635813659
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9350360631942749,
+                    "position": [
+                        -0.026002416852861643,
+                        -0.018626676173880696,
+                        0.12431162316352129
+                    ],
+                    "orientation": {
+                        "w": 0.06255885215415312,
+                        "xyz": [
+                            0.008063559047379694,
+                            0.998005884238228,
+                            -0.002371509754784511
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9334847927093506,
+                    "position": [
+                        -0.02228754246607423,
+                        -0.05391002376563847,
+                        0.1170706870034337
+                    ],
+                    "orientation": {
+                        "w": 0.0554956654244274,
+                        "xyz": [
+                            0.0113802054358249,
+                            0.9824131226184571,
+                            0.177919022452324
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9321608543395996,
+                    "position": [
+                        -0.02799645299091935,
+                        -0.014060498448088765,
+                        0.12652109283953905
+                    ],
+                    "orientation": {
+                        "w": 0.06936288841870003,
+                        "xyz": [
+                            0.0013037740960834612,
+                            0.9975825445897684,
+                            -0.004019528968072855
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.931606113910675,
+                    "position": [
+                        -0.030864511150866747,
+                        -0.031819961266592145,
+                        0.11910721380263567
+                    ],
+                    "orientation": {
+                        "w": 0.16873131047424245,
+                        "xyz": [
+                            -0.9816322238509468,
+                            0.013148722304870852,
+                            -0.08806266555606278
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9299099445343018,
+                    "position": [
+                        -0.01444724528118968,
+                        -0.05501757864840329,
+                        0.11309984792023897
+                    ],
+                    "orientation": {
+                        "w": 0.03688733776670976,
+                        "xyz": [
+                            0.01388818584545039,
+                            0.9698485649867795,
+                            0.24049990353322703
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "case body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the case body to pick up and carry the dental floss container",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the case body while pulling floss from the dispenser",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "stabilize the case body while closing or opening the lid",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "contain floss spool",
+                "support all other parts",
+                "main grasp surface",
+                "stabilize during dispensing"
+            ],
+            "semantic_description": "Oval white plastic base with a smooth glossy hard surface, forming the larger lower housing of the floss container with rounded edges and compact size.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.8703886270523071,
+                    "position": [
+                        0.002767769619822502,
+                        -0.12028090585954487,
+                        -0.0033955201506614685
+                    ],
+                    "orientation": {
+                        "w": 0.7266796716200655,
+                        "xyz": [
+                            -0.6685296886576758,
+                            -0.12365299093542081,
+                            -0.09856291427382521
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.8598958253860474,
+                    "position": [
+                        0.014930024277418852,
+                        0.006810118677094579,
+                        -0.10062860231846571
+                    ],
+                    "orientation": {
+                        "w": 0.9984541259715305,
+                        "xyz": [
+                            -0.01549000990852666,
+                            -0.047698499076185286,
+                            -0.02396395437609914
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.8591770529747009,
+                    "position": [
+                        0.013635109644383192,
+                        0.021424348233267665,
+                        -0.10337611567229033
+                    ],
+                    "orientation": {
+                        "w": 0.9989058673817872,
+                        "xyz": [
+                            0.010611857451844633,
+                            -0.04224406307680584,
+                            -0.017026324513078218
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.8462324738502502,
+                    "position": [
+                        0.011745591182261705,
+                        0.010182916885241866,
+                        -0.10186025779694319
+                    ],
+                    "orientation": {
+                        "w": 0.9986705213428924,
+                        "xyz": [
+                            0.0037944567957820556,
+                            -0.04450951328084718,
+                            -0.025723435342940408
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8461800217628479,
+                    "position": [
+                        0.011577439960092306,
+                        0.016549749998375773,
+                        -0.10348733048886061
+                    ],
+                    "orientation": {
+                        "w": 0.99905458628315,
+                        "xyz": [
+                            0.006186469139267856,
+                            -0.037382412597764314,
+                            -0.021312354505391266
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner floss spool area",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store wound floss",
+                "guide floss inside the case",
+                "support dispensing from the interior"
+            ],
+            "semantic_description": "Recessed white interior insert with a smooth hard plastic appearance, elongated and centered inside the open base where the floss roll sits.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutter",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut dispensed floss",
+                "provide tearing edge",
+                "enable strand separation"
+            ],
+            "semantic_description": "Small metallic cutter tab set into the front rim of the case, with a reflective hard surface and narrow rectangular shape for severing floss.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "latch tab",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secure the lid closed",
+                "align lid and body",
+                "provide snap closure"
+            ],
+            "semantic_description": "Tiny white plastic tab at the front center near the lid-body junction, with a smooth hard finish and shallow protruding shape for snap closure.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/f7425af696e05dd7b26f39eab7a7b689/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3746d80239f6e3f8caa794a6fd42ff3e30809e3effe6bb7535d5f6c072aa7cba
+size 3784684

dataset/bathroom_supplies/personal_care/f7425af696e05dd7b26f39eab7a7b689/dental_floss_020.urdf

@@ -58,6 +58,7 @@
                <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>