Add asset bathroom_supplies/personal_care/8e06a014297553a889579ad2b01d31de

.gitattributes

@@ -8013,3 +8013,4 @@ dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/afforda
 dataset/bathroom_supplies/personal_care/8d226e73332a52b68d740b0d190c9cda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/8d57d0e7b5b050c184e84deaa405e54b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/8e06a014297553a889579ad2b01d31de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/8e06a014297553a889579ad2b01d31de/affordance/affordance_annot.json

@@ -0,0 +1,312 @@
+{
+    "affordances": [
+        {
+            "part_name": "case base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower case body to pick up or reposition the case",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the base to stabilize the case while opening or removing the floss pick",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain the floss pick",
+                "support the hinge connection",
+                "main grasp surface",
+                "protect stored contents"
+            ],
+            "semantic_description": "Rounded medium-gray plastic lower shell with a smooth matte finish, forming the bottom half of the compact oval case.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_8": {
+                    "confidence": 0.17748518288135529,
+                    "position": [
+                        0.09222275204956532,
+                        0.024547182576498017,
+                        -0.0778857390396297
+                    ],
+                    "orientation": {
+                        "w": 0.7159455298443504,
+                        "xyz": [
+                            0.32389273176086447,
+                            -0.2612497675681259,
+                            -0.5605925932029222
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.7224332690238953,
+                    "position": [
+                        0.0022305892780423164,
+                        -0.09217476603225805,
+                        -0.08375332457944751
+                    ],
+                    "orientation": {
+                        "w": 0.09980872624617433,
+                        "xyz": [
+                            -0.036067388035360366,
+                            0.36901966079235815,
+                            0.9233427595612131
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.10626672953367233,
+                    "position": [
+                        -0.047275179997086525,
+                        0.018161673651775345,
+                        -0.08981656981632113
+                    ],
+                    "orientation": {
+                        "w": 0.7535775193640527,
+                        "xyz": [
+                            0.2630279422803007,
+                            0.16439570967111417,
+                            0.5795785318062103
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "case lid",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the case",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the upper shell briefly while repositioning the open case",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "cover the contents",
+                "protect stored floss pick",
+                "open for access",
+                "close the carrying case"
+            ],
+            "semantic_description": "Rounded medium-gray plastic upper shell with a smooth matte finish, matching the base and forming the hinged top cover.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.39364299178123474,
+                    "position": [
+                        -0.11215528659522533,
+                        -0.060473935125628486,
+                        0.0235379827208817
+                    ],
+                    "orientation": {
+                        "w": 0.631525872077353,
+                        "xyz": [
+                            -0.1492117011165022,
+                            0.7380648865497426,
+                            0.18485444108588356
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.2337745726108551,
+                    "position": [
+                        -0.11767577938735485,
+                        -0.010503346478799358,
+                        0.0023729894892312586
+                    ],
+                    "orientation": {
+                        "w": 0.7235411312278883,
+                        "xyz": [
+                            0.025733500026117084,
+                            0.6897823660854877,
+                            -0.00512892146362539
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.12086119502782822,
+                    "position": [
+                        -0.09860447607934475,
+                        -0.022478032304206863,
+                        -0.030850961338728666
+                    ],
+                    "orientation": {
+                        "w": 0.6156608766694044,
+                        "xyz": [
+                            0.3018403263981693,
+                            0.38188243542990963,
+                            0.6196933982290181
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.6629005074501038,
+                    "position": [
+                        -0.10941228084266186,
+                        0.022912072570761666,
+                        0.06374229537323117
+                    ],
+                    "orientation": {
+                        "w": 0.12680000527550084,
+                        "xyz": [
+                            0.8308537079403652,
+                            -0.0581159260527524,
+                            0.5387266596363229
+                        ]
+                    }
+                },
+                "grasp_44": {
+                    "confidence": 0.1134924441576004,
+                    "position": [
+                        -0.11306398920714855,
+                        0.025275370659073815,
+                        -0.009703742805868387
+                    ],
+                    "orientation": {
+                        "w": 0.7408902075560619,
+                        "xyz": [
+                            0.052624632239861246,
+                            0.6677876081500487,
+                            -0.04870378661245933
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lid interior panel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the inner lid surface",
+                "cover the inside of the lid",
+                "provide molded interior detail and text"
+            ],
+            "semantic_description": "Medium-gray inner surface of the lid with a smooth slightly matte finish and small embossed text near the center.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "case interior tray",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "seat the floss pick",
+                "organize storage position",
+                "keep the tool from shifting"
+            ],
+            "semantic_description": "Medium-gray recessed inner tray in the base, smooth and molded to fit the floss pick.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "floss pick body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pick body to remove it from the case",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the narrow body to orient and use the floss pick",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a grip area",
+                "support manipulation",
+                "connect the looped end to the flossing tip",
+                "enable controlled positioning"
+            ],
+            "semantic_description": "Small white plastic floss pick with a smooth semi-gloss finish and a slim tapered body extending across the tray.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "finger ring of floss pick",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the ring end to lift the floss pick out of the tray",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "grasp the ring to reorient the tool before use or storage",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a pickup point",
+                "improve handling control",
+                "assist orientation of the floss pick"
+            ],
+            "semantic_description": "Circular white plastic loop at one end of the floss pick, smooth and semi-gloss, larger than the narrow body section.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lid and base",
+                "enable opening and closing",
+                "guide rotational motion"
+            ],
+            "semantic_description": "Short central hinge section between lid and base at the rear of the case, visible as a narrow connector with a smooth gray plastic appearance.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "closure latch",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or press the front latch area to open the case",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "align the latch area while closing the case",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "secure the case closed",
+                "release the lid",
+                "provide front closure point"
+            ],
+            "semantic_description": "Small front latch tab on the case edge, gray plastic and slightly protruding from the shell.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "case rim",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define the case opening boundary",
+                "provide contact surface between lid and base",
+                "help align closure"
+            ],
+            "semantic_description": "Thin light-gray rim running around the base opening, visible as a narrow border between the base shell and interior tray.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/8e06a014297553a889579ad2b01d31de/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0536811ed820f5560d355960a9aa692888b60c132d2508bc67eec927091f0cb
+size 3788212

dataset/bathroom_supplies/personal_care/8e06a014297553a889579ad2b01d31de/dental_floss_017.urdf

@@ -58,6 +58,7 @@
                <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>