Add asset bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1

.gitattributes

@@ -5834,4 +5834,4 @@ dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/afforda
 dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c1c73fc7295b542bbbeb80454f169727/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/c2f91b6333955e97b87dae69c7917dd3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/affordance/affordance_annot.json

@@ -0,0 +1,165 @@
+{
+    "affordances": [
+        {
+            "part_name": "comb handle and spine",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and orient the comb",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the spine/handle area to stabilize the comb during manipulation",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp the handle to pull the comb from a surface or container",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "support the teeth",
+                "transfer combing force",
+                "orient the comb",
+                "allow hanging through the hole"
+            ],
+            "semantic_description": "Long narrow dark gray to black plastic frame with a smooth matte surface, including a slim handle with a hanging hole and a thicker spine running along the toothed edge.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9638110995292664,
+                    "position": [
+                        0.06390417087823153,
+                        0.08423978928476572,
+                        0.000599976847297512
+                    ],
+                    "orientation": {
+                        "w": 0.37059790264894527,
+                        "xyz": [
+                            0.6013381858477045,
+                            0.36663622261802087,
+                            -0.6054976969881746
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9503799080848694,
+                    "position": [
+                        -0.0009464831091463566,
+                        -0.09997822251170874,
+                        -0.00035401796048972756
+                    ],
+                    "orientation": {
+                        "w": 0.6083150905085942,
+                        "xyz": [
+                            -0.490713762510548,
+                            0.4784973357261748,
+                            0.4002412443079973
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.837681233882904,
+                    "position": [
+                        -0.13842871319502592,
+                        0.015521829016506672,
+                        0.0017142497090389952
+                    ],
+                    "orientation": {
+                        "w": 0.046989011196032375,
+                        "xyz": [
+                            0.70128866902251,
+                            -0.031185370727967787,
+                            0.7106431651539433
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8311269879341125,
+                    "position": [
+                        -0.13961790036410093,
+                        0.00812696386128664,
+                        -0.0015486796764889732
+                    ],
+                    "orientation": {
+                        "w": 0.7091549951342111,
+                        "xyz": [
+                            0.007165528658024502,
+                            0.7048500716559608,
+                            -0.015304396813821947
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.8199819326400757,
+                    "position": [
+                        -0.139430264942348,
+                        0.009213779121637344,
+                        -0.0031944601942086592
+                    ],
+                    "orientation": {
+                        "w": 0.71432147460394,
+                        "xyz": [
+                            0.012410091772663554,
+                            0.6995967793942256,
+                            -0.012456596769315655
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.780370831489563,
+                    "position": [
+                        -0.13941564690321684,
+                        0.01106283999979496,
+                        0.00040780050039757043
+                    ],
+                    "orientation": {
+                        "w": 0.703258837833156,
+                        "xyz": [
+                            0.012745561955470936,
+                            0.7107589385270529,
+                            -0.009289185319274479
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.7337668538093567,
+                    "position": [
+                        0.12715803552418947,
+                        0.054661341942846775,
+                        -0.0022238860983634368
+                    ],
+                    "orientation": {
+                        "w": 0.2140473102375794,
+                        "xyz": [
+                            0.6751836567097041,
+                            0.19483413028915098,
+                            -0.678491297193
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "comb teeth",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "comb hair",
+                "separate strands",
+                "guide hair alignment",
+                "provide fine grooming contact"
+            ],
+            "semantic_description": "Dense row of fine dark gray to black plastic teeth with a matte hard surface, arranged along one long edge and forming the active grooming surface.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8547579dfa5cfa10a294a9a16a7338bdbd606702bf4c4993bfd6cd042bbb02ac
+size 3787092

dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/comb_028.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>