Add asset bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d

.gitattributes

@@ -5852,3 +5852,4 @@ dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/afforda
 dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/affordance_annot.json

@@ -0,0 +1,212 @@
+{
+    "affordances": [
+        {
+            "part_name": "comb spine",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the thick spine to pick up the comb",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the spine to orient the comb for grooming",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "clamp the spine to stabilize the comb while presenting the teeth",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "main gripping area",
+                "support the teeth",
+                "provide structural rigidity",
+                "orient the comb during use"
+            ],
+            "semantic_description": "Curved reddish-brown wooden spine with a glossy polished finish, hard smooth feel, broad thick shape along the outer edge, and visible black decorative motifs with small gold markings.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9839569926261902,
+                    "position": [
+                        0.1083752951817587,
+                        -0.09415371064096689,
+                        -0.004500611044932157
+                    ],
+                    "orientation": {
+                        "w": 0.6567674371025496,
+                        "xyz": [
+                            -0.26401078433076736,
+                            -0.6421359048693542,
+                            -0.2943065051887539
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9830984473228455,
+                    "position": [
+                        -0.12000500492285937,
+                        -0.0675670737400651,
+                        -0.0028385872137732804
+                    ],
+                    "orientation": {
+                        "w": 0.6604563479343306,
+                        "xyz": [
+                            -0.2557808116973436,
+                            0.6614979135422113,
+                            0.24656459441695008
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9830976128578186,
+                    "position": [
+                        0.11243957944680005,
+                        -0.09174145851284266,
+                        -0.00464159605326131
+                    ],
+                    "orientation": {
+                        "w": 0.6569064257283241,
+                        "xyz": [
+                            -0.2576779717902375,
+                            -0.6493858742957235,
+                            -0.2835030810345566
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9830418825149536,
+                    "position": [
+                        0.11045354523230344,
+                        -0.09482996258884668,
+                        -0.001558529504109174
+                    ],
+                    "orientation": {
+                        "w": 0.2685554995930434,
+                        "xyz": [
+                            -0.6506963530281904,
+                            0.2777437619432278,
+                            0.6537052871866393
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9830064177513123,
+                    "position": [
+                        -0.12280639342498034,
+                        -0.06284028012305498,
+                        -0.003793292969930917
+                    ],
+                    "orientation": {
+                        "w": 0.6656624939236059,
+                        "xyz": [
+                            -0.24183895929052554,
+                            0.6628467625335455,
+                            0.24298463192448766
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9828285574913025,
+                    "position": [
+                        -0.11403250030707568,
+                        -0.07705041114240885,
+                        -0.0019420154276303947
+                    ],
+                    "orientation": {
+                        "w": 0.6559153477025248,
+                        "xyz": [
+                            -0.263149089311811,
+                            0.6583687645427306,
+                            0.2589945623311794
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9823673963546753,
+                    "position": [
+                        0.10536844946909696,
+                        -0.09774125460535288,
+                        -0.004309822397772223
+                    ],
+                    "orientation": {
+                        "w": 0.6515893290387693,
+                        "xyz": [
+                            -0.27157326648337454,
+                            -0.6454257427673068,
+                            -0.2917274717739588
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9822738766670227,
+                    "position": [
+                        0.10808288969565183,
+                        -0.09331303928047419,
+                        -0.004040386818815023
+                    ],
+                    "orientation": {
+                        "w": 0.6544290417916594,
+                        "xyz": [
+                            -0.2592804677791603,
+                            -0.653884617841386,
+                            -0.2773646964526952
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9818636178970337,
+                    "position": [
+                        0.1058706633048132,
+                        -0.09554526302963495,
+                        -0.003335235465783626
+                    ],
+                    "orientation": {
+                        "w": 0.2739186933882074,
+                        "xyz": [
+                            -0.6512130694070387,
+                            0.2770212169191155,
+                            0.6512674819324341
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9814819097518921,
+                    "position": [
+                        0.13025023706723005,
+                        -0.06589232850819826,
+                        -0.005053470667917281
+                    ],
+                    "orientation": {
+                        "w": 0.6919350208925072,
+                        "xyz": [
+                            -0.14434576544806207,
+                            -0.6886514014676351,
+                            -0.16170799026751867
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "comb teeth",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "comb hair",
+                "separate strands",
+                "guide grooming strokes",
+                "provide fine contact points"
+            ],
+            "semantic_description": "A row of closely spaced reddish-brown wooden teeth with a glossy finish and hard smooth surfaces, slim elongated shape lining the inner edge of the comb and forming the fine working side.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47249aa9c2883d5f7fccbcb88af1f7b953a1546b157317d015e59d03354f6dca
+size 3771608

dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/comb_001.urdf

@@ -52,6 +52,7 @@
                <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>