Add asset bathroom_supplies/personal_care/ac461abbe919543792f68c711dc19b32

.gitattributes

@@ -5810,3 +5810,4 @@ dataset/bathroom_supplies/personal_care/a67542bae5f45c7d8905c41557e2dc0e/afforda
 dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/a74b22d376535209ac222a1f09479dc6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/ac461abbe919543792f68c711dc19b32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/ac461abbe919543792f68c711dc19b32/affordance/affordance_annot.json

@@ -0,0 +1,129 @@
+{
+    "affordances": [
+        {
+            "part_name": "floss container body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the container body from the sides to pick up the floss container",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body steady while opening the lid or pulling floss",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "contain floss supply",
+                "support internal spool and cutter assembly",
+                "provide main grasp surface",
+                "stabilize during dispensing"
+            ],
+            "semantic_description": "Boxy rounded light blue translucent plastic body with a smooth slightly glossy hard surface, medium size, forming the lower container and side walls with printed branding text on the front/side.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front tab or lid edge to open the floss container",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "lightly hold the closed lid while repositioning the case",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "cover the container",
+                "protect stored floss",
+                "close the dispenser opening",
+                "allow opening and closing access"
+            ],
+            "semantic_description": "Square translucent pale plastic lid with a glossy smooth hard finish, covering the top of the case, with a printed sticker on top and visible molded ridges underneath.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_51": {
+                    "confidence": 0.5036131739616394,
+                    "position": [
+                        -0.08582625701092184,
+                        0.12768531870096922,
+                        -0.0010177143849432468
+                    ],
+                    "orientation": {
+                        "w": 0.6556759143101759,
+                        "xyz": [
+                            0.3646246374764459,
+                            0.5624953704580961,
+                            -0.3474721965163475
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.45728012919425964,
+                    "position": [
+                        -0.1399921493139118,
+                        -0.017891819588840008,
+                        0.004868307616561651
+                    ],
+                    "orientation": {
+                        "w": 0.7229942739678594,
+                        "xyz": [
+                            0.06135738999159606,
+                            0.6853637008190187,
+                            0.06157229980084896
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front thumb pad",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press or brace a finger on the front pad while opening the lid",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "use as a friction contact point to stabilize the case during dispensing",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "provide thumb or finger contact area",
+                "improve grip on the front face",
+                "help stabilize the container during opening or floss dispensing"
+            ],
+            "semantic_description": "Large oval light gray rubbery or matte-textured pad on the lower front face, bordered by a turquoise plastic ring, slightly inset and sized for thumb contact.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.30643540620803833,
+                    "position": [
+                        0.014335016952827573,
+                        0.009432332124561071,
+                        -0.12615857110358775
+                    ],
+                    "orientation": {
+                        "w": 0.06708652893248696,
+                        "xyz": [
+                            -0.00771667219589818,
+                            -0.04366434045647738,
+                            0.9967613937038854
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front red part is a grip pad, not realistically graspable; opening tab is omitted from lid identity and functions are overstated."
+    }
+}

dataset/bathroom_supplies/personal_care/ac461abbe919543792f68c711dc19b32/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dbfb8e6fd243ed5fa0b2e11fa0cc608d0a872806f47182444d69dbe675159f3
+size 3781012

dataset/bathroom_supplies/personal_care/ac461abbe919543792f68c711dc19b32/dental_floss_029.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>