Add asset bathroom_supplies/personal_care/45d1886c7a1d5fcabf8b301a36aba652

.gitattributes

@@ -5783,4 +5783,4 @@ dataset/bathroom_supplies/personal_care/426a5b58400a5567a627dbbfb3210045/afforda
 dataset/bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4545553416145d2a8d03ee4079d303db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/4574f34489e157dca00e278cb5cf5076/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/45d1886c7a1d5fcabf8b301a36aba652/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/45d1886c7a1d5fcabf8b301a36aba652/affordance/affordance_annot.json

@@ -0,0 +1,215 @@
+{
+    "affordances": [
+        {
+            "part_name": "flip lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the lid to flip the container open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the lid while guiding it closed onto the body",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "cover the container opening",
+                "open for access to contents",
+                "protect contents when closed",
+                "support closing and sealing"
+            ],
+            "semantic_description": "A white plastic hinged lid with a smooth matte surface and rounded rectangular shape, positioned at the top of the container with a small front notch for opening.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "container body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body to pick up and move the container",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the body steady while opening the lid or accessing contents",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "contain the stored item",
+                "support the whole object",
+                "provide the main grasp surface",
+                "stabilize the container during use"
+            ],
+            "semantic_description": "The main white plastic case has a smooth matte hard surface, a rounded boxy form, and sits below the lid, with subtle molded contours and small embossed markings on the sides.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.9271442294120789,
+                    "position": [
+                        0.006114267627708614,
+                        0.018945456598885357,
+                        -0.12242083251476288
+                    ],
+                    "orientation": {
+                        "w": 0.01153296156968818,
+                        "xyz": [
+                            0.02253659059161673,
+                            0.009870016902510992,
+                            -0.9996307696586181
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.9226189255714417,
+                    "position": [
+                        0.002866657800041139,
+                        -0.023585916380397975,
+                        -0.11973917484283447
+                    ],
+                    "orientation": {
+                        "w": 0.0002741058706993717,
+                        "xyz": [
+                            -0.014364495003195657,
+                            0.011936609361080652,
+                            0.9998255365343678
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9202030897140503,
+                    "position": [
+                        0.002234641113318503,
+                        0.022839185898192227,
+                        -0.12482354044914246
+                    ],
+                    "orientation": {
+                        "w": 0.9997649075911826,
+                        "xyz": [
+                            0.00030432677104675173,
+                            -0.0006689017529685204,
+                            -0.021670013956055823
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.9184050559997559,
+                    "position": [
+                        -0.005963746574707329,
+                        0.1172195739345625,
+                        -0.07016487419605255
+                    ],
+                    "orientation": {
+                        "w": 0.870309164255706,
+                        "xyz": [
+                            0.49166886312308083,
+                            0.016155326592987906,
+                            0.02372115238486131
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9181609749794006,
+                    "position": [
+                        0.010564020718447864,
+                        0.08990470238495618,
+                        -0.09765268862247467
+                    ],
+                    "orientation": {
+                        "w": 0.9495586180433656,
+                        "xyz": [
+                            0.31330444381427225,
+                            -0.009590066206223491,
+                            -0.009315954914206002
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9180635213851929,
+                    "position": [
+                        -0.0004968773573637009,
+                        0.11958945461083204,
+                        -0.0687054842710495
+                    ],
+                    "orientation": {
+                        "w": 0.8636563166677728,
+                        "xyz": [
+                            0.5036527763502814,
+                            0.0006967283294779802,
+                            0.020764443747529913
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9179288744926453,
+                    "position": [
+                        0.008430381189100444,
+                        0.027285800431855023,
+                        -0.11945328116416931
+                    ],
+                    "orientation": {
+                        "w": 0.9999672374571605,
+                        "xyz": [
+                            5.790195393946008e-05,
+                            -0.007356362337416766,
+                            -0.0033770686726259033
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.916653037071228,
+                    "position": [
+                        0.0029663488967344165,
+                        0.020034047891385853,
+                        -0.12424856424331665
+                    ],
+                    "orientation": {
+                        "w": 0.9999939916718275,
+                        "xyz": [
+                            0.0020889879679506632,
+                            0.002469717704564056,
+                            0.0012462920902414788
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9165675640106201,
+                    "position": [
+                        0.002883303794078529,
+                        0.12384177662897855,
+                        -0.05142096430063248
+                    ],
+                    "orientation": {
+                        "w": 0.021589346589068834,
+                        "xyz": [
+                            0.004037010463277243,
+                            0.5136148147384942,
+                            -0.8577397185285978
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner opening rim",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define the mouth of the container",
+                "support the lid seating area",
+                "surround and retain the interior opening"
+            ],
+            "semantic_description": "A white recessed inner rim visible around the top opening inside the body, with a smooth hard plastic surface and rounded rectangular shape just beneath the lid.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/45d1886c7a1d5fcabf8b301a36aba652/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ffa2c24667240ecd26a5987252b12c449b22ce5fc90825eaa0301d4b3cc3dc1
+size 3794752

dataset/bathroom_supplies/personal_care/45d1886c7a1d5fcabf8b301a36aba652/dental_floss_027.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>