Add asset bathroom_supplies/personal_care/ac75c3a3c687535d91553673e72086af

.gitattributes

@@ -5810,4 +5810,5 @@ 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/ab2fb5186bc655b9a02568b4213fbd6e/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/ac75c3a3c687535d91553673e72086af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/ac75c3a3c687535d91553673e72086af/affordance/affordance_annot.json

@@ -0,0 +1,70 @@
+{
+    "affordances": [
+        {
+            "part_name": "comb body with teeth",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the thicker bulbous handle end to pick up and hold the comb",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "grasp the narrow central body to reposition or hand off the comb",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the body to stabilize the comb while using the teeth for grooming",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide the main grip",
+                "support and integrate the comb teeth",
+                "transmit force during combing",
+                "stabilize object orientation",
+                "groom and separate hair"
+            ],
+            "semantic_description": "Single-piece reddish-brown wooden comb with an integrated curved body and teeth, polished semi-gloss finish, smooth hard texture, elongated wavy shape, thicker bulbous handle end, short closely spaced teeth at one end, and small gold decorative markings near the middle.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9514234066009521,
+                    "position": [
+                        -0.02816635463386774,
+                        -0.09856082126498222,
+                        0.03444676913204603
+                    ],
+                    "orientation": {
+                        "w": 0.38650711608096294,
+                        "xyz": [
+                            -0.5881785263849518,
+                            -0.5875493923059394,
+                            -0.3993043725271804
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9547179341316223,
+                    "position": [
+                        -0.025066367350518703,
+                        -0.1096017174422741,
+                        -0.0016090448771137744
+                    ],
+                    "orientation": {
+                        "w": 0.5031884653760175,
+                        "xyz": [
+                            -0.5059468579784222,
+                            0.49051012978457553,
+                            0.5002189098714773
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/ac75c3a3c687535d91553673e72086af/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e35c2b33ed9d95018f326707d7727cb53e4c01050609872290c868514e53d30
+size 3778016

dataset/bathroom_supplies/personal_care/ac75c3a3c687535d91553673e72086af/comb_022.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>