Add asset bathroom_supplies/personal_care/54712a3528085067b67e2bd4ee5b08e0

.gitattributes

@@ -5800,3 +5800,4 @@ dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/afforda
 dataset/bathroom_supplies/personal_care/5353f96e68615fbe8ab85bc57e2dad0f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/54712a3528085067b67e2bd4ee5b08e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/54712a3528085067b67e2bd4ee5b08e0/affordance/affordance_annot.json

@@ -0,0 +1,307 @@
+{
+    "affordances": [
+        {
+            "part_name": "floss dispenser body",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the dental floss container",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body steady while pulling floss from the opening",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the body to open or manipulate the dispenser during use",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "main enclosure",
+                "contain floss spool",
+                "main grasp surface",
+                "support dispensing",
+                "protect internal mechanism"
+            ],
+            "semantic_description": "Large rounded dark blue plastic shell with a mostly matte smooth hard surface, compact pebble-like shape, and printed white Oral-B logo on the front and side.",
+            "id": 13,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9862029552459717,
+                    "position": [
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+                        -0.0014161844737827778
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.05002646958117607,
+                            0.018766157816507416
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.986075222492218,
+                    "position": [
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+                        0.119829708855832,
+                        -0.012014988344162703
+                    ],
+                    "orientation": {
+                        "w": 0.7218895823325268,
+                        "xyz": [
+                            0.6875865611923869,
+                            0.05154607135546396,
+                            0.05867839734702757
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9854779243469238,
+                    "position": [
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+                        0.12341466746875085,
+                        -0.00714696035720408
+                    ],
+                    "orientation": {
+                        "w": 0.716919953200774,
+                        "xyz": [
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+                            0.016376250049375374,
+                            -0.016131075497598565
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.985000729560852,
+                    "position": [
+                        -0.0015939748409437016,
+                        -0.11438990928581916,
+                        -0.05355249485000968
+                    ],
+                    "orientation": {
+                        "w": 0.020680575287901924,
+                        "xyz": [
+                            -0.027935763458516873,
+                            -0.5305575854800343,
+                            -0.8469359807065395
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9846478700637817,
+                    "position": [
+                        0.0035857053444487974,
+                        0.12119250945397653,
+                        -0.015504023525863886
+                    ],
+                    "orientation": {
+                        "w": 0.7364289458953275,
+                        "xyz": [
+                            0.6764691156670553,
+                            0.0024093590625509087,
+                            0.00749254196097961
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9834688901901245,
+                    "position": [
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+                        0.11726860157796182,
+                        -0.007921726908534765
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.011814100698055774,
+                            -0.024725200875596057
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+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9833237528800964,
+                    "position": [
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+                        0.11729401550837792,
+                        -0.012440819758921862
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.064518728019616,
+                            -0.06580671919130109
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9831251502037048,
+                    "position": [
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+                        0.11721784077235498,
+                        -0.02153567550703883
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+                    "orientation": {
+                        "w": 0.10903626869131323,
+                        "xyz": [
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+                            -0.6522567368606091,
+                            0.7485774149402452
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+                    }
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+                "grasp_10": {
+                    "confidence": 0.9826699495315552,
+                    "position": [
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+                        -0.0006250445730984211
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+                    "orientation": {
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+                        "xyz": [
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+                            0.0301768900106395,
+                            0.05173220952881837
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+                    }
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+                "grasp_11": {
+                    "confidence": 0.9824846386909485,
+                    "position": [
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+                        0.11756262384005822,
+                        0.0055483984760940075
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+                    "orientation": {
+                        "w": 0.05700627245435557,
+                        "xyz": [
+                            0.03578134815033748,
+                            -0.7153052395112605,
+                            0.6955633647290108
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9824681878089905,
+                    "position": [
+                        0.03246201416186523,
+                        0.11341285906382836,
+                        0.014206432271748781
+                    ],
+                    "orientation": {
+                        "w": 0.6454311051011927,
+                        "xyz": [
+                            0.7521027591004839,
+                            -0.08939196864768617,
+                            -0.09883928501655297
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9822031259536743,
+                    "position": [
+                        0.01456129019788932,
+                        0.11482659183093347,
+                        -0.038690207060426474
+                    ],
+                    "orientation": {
+                        "w": 0.09893472947215338,
+                        "xyz": [
+                            -0.0032558476295746455,
+                            -0.588110194108201,
+                            0.8027002668160134
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9820646643638611,
+                    "position": [
+                        0.009193554797093384,
+                        0.11812670729705133,
+                        0.006389296147972345
+                    ],
+                    "orientation": {
+                        "w": 0.06450755817683153,
+                        "xyz": [
+                            0.006061336027885682,
+                            -0.7188145426028504,
+                            0.6921760531008526
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9811680316925049,
+                    "position": [
+                        0.03319193264178466,
+                        0.11501696906634606,
+                        0.016645754221826792
+                    ],
+                    "orientation": {
+                        "w": 0.63515088023469,
+                        "xyz": [
+                            0.7607118697198622,
+                            -0.0641582386021825,
+                            -0.11740754244883721
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9808524250984192,
+                    "position": [
+                        0.017521295972983353,
+                        0.1210847964102868,
+                        -0.008548308163881302
+                    ],
+                    "orientation": {
+                        "w": 0.7264519487686186,
+                        "xyz": [
+                            0.685218452605713,
+                            -0.0242583381009851,
+                            -0.04641951498548034
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "dispensing slot",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide floss out",
+                "dispense floss",
+                "expose cutting area",
+                "provide floss access"
+            ],
+            "semantic_description": "Long narrow opening with a white inner surround set near the lower front edge, appearing as a recessed slit in the hard plastic case where the floss exits.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "logo label",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brand marking",
+                "identify product orientation",
+                "visual labeling"
+            ],
+            "semantic_description": "Small oblong white-and-blue printed Oral-B logo area on the front and side of the case, flat and smooth like a printed label or pad-printed marking.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/54712a3528085067b67e2bd4ee5b08e0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fccd2a23e23b09b71ca302cab0b1fc5f966260a05dbe95d3502ccca11234109
+size 3828604

dataset/bathroom_supplies/personal_care/54712a3528085067b67e2bd4ee5b08e0/dental_floss_005.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>NO: {"summary":"Logo decal is segmented as parts; true functional features are not correctly isolated.","merge_groups":[{"colors":["Pink","Maroon"],"target_part":"main body surface","reason":"both mark nonfunctional decorative/body regions"}]}</PartSegChecker>