Add asset bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25

.gitattributes

@@ -5874,3 +5874,4 @@ dataset/bathroom_supplies/personal_care/ef14279d9388537e9aa7353c161cc978/afforda
 dataset/bathroom_supplies/personal_care/efb4f469af9c5f7594503196e7f3c96c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f0260dd83c2c5b7b8c2f3da95dd01b70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25/affordance/affordance_annot.json

@@ -0,0 +1,329 @@
+{
+    "affordances": [
+        {
+            "part_name": "razor handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and hold the razor for shaving manipulation",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp the handle to orient the razor head toward the face",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to stabilize the razor while placing it in storage or on a charger",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support handoff and pickup",
+                "position the shaving head",
+                "provide body structure"
+            ],
+            "semantic_description": "Large elongated medium gray handle with a smooth matte plastic finish, gently curved and tapered, forming the main body of the electric razor with Philips branding visible on the front.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9951105713844299,
+                    "position": [
+                        0.04028300568461418,
+                        -0.1020203169027809,
+                        -0.023225315322633833
+                    ],
+                    "orientation": {
+                        "w": 0.5582377019045455,
+                        "xyz": [
+                            -0.43051134841064803,
+                            0.4495273224704016,
+                            0.5485944161350615
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9950597286224365,
+                    "position": [
+                        0.04080447182059288,
+                        -0.09869339424767531,
+                        -0.03483044955646619
+                    ],
+                    "orientation": {
+                        "w": 0.5843934980487632,
+                        "xyz": [
+                            -0.4018493396435035,
+                            0.4048528954313747,
+                            0.5771442460314776
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9947769641876221,
+                    "position": [
+                        0.03822660073637962,
+                        -0.10533132511773147,
+                        -0.013919684512075037
+                    ],
+                    "orientation": {
+                        "w": 0.5293189088144248,
+                        "xyz": [
+                            -0.4549258133075953,
+                            -0.4629983824041819,
+                            -0.5463483275796134
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9944031238555908,
+                    "position": [
+                        0.024824555963277817,
+                        -0.0966240476409439,
+                        -0.03825418505584821
+                    ],
+                    "orientation": {
+                        "w": 0.6031259726872686,
+                        "xyz": [
+                            -0.38718891103810926,
+                            0.40090417788589716,
+                            0.5706133966117444
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9943251013755798,
+                    "position": [
+                        0.03761405870318413,
+                        -0.009194732789183035,
+                        -0.10107557702576742
+                    ],
+                    "orientation": {
+                        "w": 0.6967870554285247,
+                        "xyz": [
+                            -0.02387236213134846,
+                            0.032925263079653044,
+                            0.7161241769167207
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9942795038223267,
+                    "position": [
+                        0.04362345486879349,
+                        -0.09095328408875503,
+                        -0.049916031246539205
+                    ],
+                    "orientation": {
+                        "w": 0.6160650530180339,
+                        "xyz": [
+                            -0.3499688340821892,
+                            0.3535563422947847,
+                            0.6107238151932288
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9942533373832703,
+                    "position": [
+                        0.03501411899924278,
+                        0.10185427110991441,
+                        -0.015983049233909696
+                    ],
+                    "orientation": {
+                        "w": 0.5293363159829082,
+                        "xyz": [
+                            0.45994619165439504,
+                            0.46183040562468636,
+                            -0.5431070261051667
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.994111955165863,
+                    "position": [
+                        0.03303723782300949,
+                        0.09962690513930283,
+                        -0.021611540054436773
+                    ],
+                    "orientation": {
+                        "w": 0.5353483008448414,
+                        "xyz": [
+                            0.4465783758868503,
+                            0.45349132936271286,
+                            -0.5552617087154881
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9940153956413269,
+                    "position": [
+                        0.026072416454553604,
+                        -0.09989217776455916,
+                        -0.020955408399458975
+                    ],
+                    "orientation": {
+                        "w": 0.5581043562332056,
+                        "xyz": [
+                            -0.42305145467070904,
+                            0.460829380202307,
+                            0.5451451885478515
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9939806461334229,
+                    "position": [
+                        0.03988371789455414,
+                        0.10337881636223756,
+                        -0.0049162585637532175
+                    ],
+                    "orientation": {
+                        "w": 0.49947523731840854,
+                        "xyz": [
+                            0.49614332875757444,
+                            0.48836346155170196,
+                            -0.5156233257488569
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9938300251960754,
+                    "position": [
+                        0.04855053499341011,
+                        0.012366848852252588,
+                        -0.09983971196925268
+                    ],
+                    "orientation": {
+                        "w": 0.7108060677990292,
+                        "xyz": [
+                            0.07574680663208881,
+                            0.022242246632750207,
+                            -0.6989438015533513
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9936860203742981,
+                    "position": [
+                        0.03421977534890175,
+                        0.09864573072991334,
+                        0.027476694027427584
+                    ],
+                    "orientation": {
+                        "w": 0.4102780000751047,
+                        "xyz": [
+                            0.5590589280617273,
+                            -0.5709737698905704,
+                            0.43944741631484713
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9936845898628235,
+                    "position": [
+                        0.038214728236198425,
+                        -0.10249827164807357,
+                        -0.015089072694536299
+                    ],
+                    "orientation": {
+                        "w": 0.5270593200441049,
+                        "xyz": [
+                            -0.45679777995353726,
+                            -0.4585154770192539,
+                            -0.5507338910199479
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9936838150024414,
+                    "position": [
+                        0.024837277829647064,
+                        0.06155207645497285,
+                        0.0791103370138444
+                    ],
+                    "orientation": {
+                        "w": 0.23270580442875985,
+                        "xyz": [
+                            0.6539570918699465,
+                            -0.6802646645345495,
+                            0.23543176668381727
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9935612678527832,
+                    "position": [
+                        0.026021257042884827,
+                        0.10044541102251969,
+                        0.021323624590877444
+                    ],
+                    "orientation": {
+                        "w": 0.4432067698105474,
+                        "xyz": [
+                            0.5441888987245157,
+                            0.5580979951926264,
+                            -0.44266559552451246
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rotary shaving head",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the shaving head to reorient the razor during inspection or maintenance",
+                    "confidence": 0.32
+                },
+                {
+                    "scenario": "hold the head lightly to stabilize the razor while attaching or removing components",
+                    "confidence": 0.27
+                }
+            ],
+            "functional_labels": [
+                "shave facial hair",
+                "contact the skin",
+                "house rotary cutters",
+                "follow facial contours"
+            ],
+            "semantic_description": "Triangular cluster of three circular rotary shaving discs at the front of the razor, with a gray housing and metallic silver cutting rings.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "neck joint of razor",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect head to handle",
+                "allow head positioning",
+                "transmit force to shaving head"
+            ],
+            "semantic_description": "Small narrow gray connector section between the handle and shaving head, with a smooth plastic appearance and short joint-like form.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "charging/status insert",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide charging contact or indicator area",
+                "serve as a small interface feature on the handle",
+                "mark a control or status region"
+            ],
+            "semantic_description": "Small oval dark insert on the upper handle, smooth and slightly recessed, visible as a compact interface detail rather than a prominent protruding button.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle and insert visual descriptions are inaccurate; body is dark gray/black with branding on front panel, not large medium-gray handle with insert on upper handle."
+    }
+}

dataset/bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:603cd03f05bcf212a375e99d1b1f5cd7c49ab5281b6a8440b1b493b796464cad
+size 3781860

dataset/bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25/razor_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>NO: {"summary":"Head, handle, and neck are reasonable, but button is inconsistently segmented and extra colors miss true functional parts.","merge_groups":[]}</PartSegChecker>