Add asset bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef

.gitattributes

@@ -5842,3 +5842,4 @@ dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/afforda
 dataset/bathroom_supplies/personal_care/ce6e362a51535f3f964c06561044256a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/affordance/affordance_annot.json

@@ -0,0 +1,79 @@
+{
+    "affordances": [
+        {
+            "part_name": "razor body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and hold the razor during use",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the body to orient the shaving heads against a surface",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the body to move or dock the razor",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "house internal motor and battery",
+                "support the shaving head assembly",
+                "enable orientation during shaving",
+                "provide overall structural housing"
+            ],
+            "semantic_description": "Large rounded orange plastic housing with a smooth semi-gloss hard surface, forming most of the compact palm-sized razor body and showing white brand text and small seam lines.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_13": {
+                    "confidence": 0.7894665002822876,
+                    "position": [
+                        0.03826631745323539,
+                        0.1259456210245844,
+                        -0.010728294801083393
+                    ],
+                    "orientation": {
+                        "w": 0.6137757830804698,
+                        "xyz": [
+                            0.42236174936274073,
+                            -0.5255282516207204,
+                            0.4107431040537024
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "shaving head assembly",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the shaving head area to stabilize the razor during inspection or maintenance",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "pinch the head area to reorient the razor in a constrained bin-picking setting",
+                    "confidence": 0.27
+                }
+            ],
+            "functional_labels": [
+                "cut facial hair",
+                "contact the skin for shaving",
+                "house the rotary cutters",
+                "guide shaving motion",
+                "provide local support for trimming interface"
+            ],
+            "semantic_description": "Raised front assembly with three circular silver foil rotary heads and several small orange plastic details, featuring a hard smooth mostly glossy surface at the razor's front face.",
+            "id": 16,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda11b810e0e568eb7683a0e61b53179a4c38556de33381c2aad202d53090485
+size 3800996

dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/razor_010.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":"Shaving heads and small controls are merged into one color; distinct functional parts are not separated and cannot be fixed by merging.","merge_groups":[]}</PartSegChecker>