Add asset bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648

.gitattributes

@@ -7980,3 +7980,4 @@ dataset/bathroom_supplies/personal_care/72a59936e82f587da982dee098a3eb02/afforda
 dataset/bathroom_supplies/personal_care/7312ad1efe5553e7ab3f2947fc438272/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/732f9e8ac9a2534baf6f7ffe1ca3c864/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/affordance/affordance_annot.json

@@ -0,0 +1,293 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the floss container",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the lid lightly to keep it open while accessing floss",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "cover the container",
+                "open and close access",
+                "protect the floss compartment",
+                "retain contents when shut"
+            ],
+            "semantic_description": "Rounded mint-green plastic lid with a smooth matte-to-satin finish, hard surface, and broad oval shape hinged at the back on the top of the small container.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9788587689399719,
+                    "position": [
+                        -0.052247168961912394,
+                        -0.008672885684063658,
+                        0.16655232850462198
+                    ],
+                    "orientation": {
+                        "w": 0.09505604348557614,
+                        "xyz": [
+                            -0.07039546791249093,
+                            0.9927826450573003,
+                            0.019785003595662203
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.97316575050354,
+                    "position": [
+                        -0.045510048512369394,
+                        0.020913636224577203,
+                        0.1663132393732667
+                    ],
+                    "orientation": {
+                        "w": 0.08189563055480843,
+                        "xyz": [
+                            0.993609622029167,
+                            0.07077621060376642,
+                            0.03199613601135983
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9688220620155334,
+                    "position": [
+                        -0.051867055241018534,
+                        0.0013535959005821496,
+                        0.16091010812669992
+                    ],
+                    "orientation": {
+                        "w": 0.10192835507427732,
+                        "xyz": [
+                            0.028291174029371806,
+                            0.9943578630777031,
+                            -0.007915809461808412
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9677091240882874,
+                    "position": [
+                        -0.04421388963237405,
+                        -0.009808919479837641,
+                        0.1608493560925126
+                    ],
+                    "orientation": {
+                        "w": 0.07541089529175289,
+                        "xyz": [
+                            -0.029765777379682692,
+                            0.9965781486745935,
+                            0.01609934634076716
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9655898213386536,
+                    "position": [
+                        -0.04955952102318406,
+                        0.02522853566915728,
+                        0.15821594838052988
+                    ],
+                    "orientation": {
+                        "w": 0.11300058810280955,
+                        "xyz": [
+                            0.9912259045340718,
+                            0.03226669151866787,
+                            0.06050565169857816
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "container body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the container body to pick up and move the floss case",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body while pulling out floss",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "stabilize the body while closing the lid",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "contain the floss spool",
+                "support the whole dispenser",
+                "provide main grasp surface",
+                "stabilize floss dispensing"
+            ],
+            "semantic_description": "Compact rounded mint-green plastic body with a smooth matte finish and hard surface, forming the larger lower housing with softly curved sides and a small front latch area.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.8772493004798889,
+                    "position": [
+                        0.12550315773114562,
+                        -0.031739095313241705,
+                        -0.03533369582146406
+                    ],
+                    "orientation": {
+                        "w": 0.07304934278965569,
+                        "xyz": [
+                            -0.5942472368792637,
+                            0.05730443955448872,
+                            0.798905636597155
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.8680388927459717,
+                    "position": [
+                        0.12061581527814269,
+                        -0.05076645137160085,
+                        -0.032888258807361126
+                    ],
+                    "orientation": {
+                        "w": 0.16138612739538416,
+                        "xyz": [
+                            -0.5881260865657757,
+                            0.14702699584412737,
+                            0.7787459705694775
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.8669583201408386,
+                    "position": [
+                        0.1188944703899324,
+                        -0.03359159277169965,
+                        -0.04577517416328192
+                    ],
+                    "orientation": {
+                        "w": 0.820144658673081,
+                        "xyz": [
+                            -0.09251154825887878,
+                            -0.5629632124040115,
+                            -0.043321747062147704
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.866119921207428,
+                    "position": [
+                        0.1221225312910974,
+                        -0.053121263248613104,
+                        -0.029156758449971676
+                    ],
+                    "orientation": {
+                        "w": 0.14690359903943037,
+                        "xyz": [
+                            -0.6040521595546111,
+                            0.14428581527579687,
+                            0.7698843579635013
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.8551557660102844,
+                    "position": [
+                        0.07029026513919234,
+                        -0.11655976445763372,
+                        -0.02985054161399603
+                    ],
+                    "orientation": {
+                        "w": 0.378524384769948,
+                        "xyz": [
+                            -0.5218403900600903,
+                            0.34177508298402737,
+                            0.683806763704284
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.8448737859725952,
+                    "position": [
+                        -0.02696227515116334,
+                        -0.11825010002939962,
+                        0.03678389731794596
+                    ],
+                    "orientation": {
+                        "w": 0.27762222898482736,
+                        "xyz": [
+                            -0.16749374293040534,
+                            0.8116723805968297,
+                            0.48585974378305435
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.8393751978874207,
+                    "position": [
+                        0.10994928842410445,
+                        -0.0744695273169782,
+                        -0.03759401198476553
+                    ],
+                    "orientation": {
+                        "w": 0.20354192863986792,
+                        "xyz": [
+                            -0.5778244691893243,
+                            0.1585704991207707,
+                            0.7743028883455284
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner cavity rim",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the opening around the floss compartment",
+                "support the interior cavity",
+                "provide the seat for the lid to close against",
+                "surround the dispensing area"
+            ],
+            "semantic_description": "Recessed inner opening and rim inside the top of the body, made of smooth plastic in a lighter aqua/cyan tone than the outer shell, with a rounded oval shape matching the container mouth.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "floss strand",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the exposed floss end to pull out more floss",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "grasp the floss strand to tension it for dispensing",
+                    "confidence": 0.27
+                }
+            ],
+            "functional_labels": [
+                "clean between teeth",
+                "dispense as a pullable strand",
+                "provide tension for use",
+                "serve as the consumable cleaning element"
+            ],
+            "semantic_description": "Thin white thread-like floss with a flexible fibrous appearance and slight sheen, visible as a short exposed strand lying inside the open cavity.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Yellow part is cavity interior, not rim; floss is not realistically gripper-graspable."
+    }
+}

dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce71fa9a24888cd3f429def9904e98cd82b49652d3d71f990a0741a0783c09ae
+size 3780244

dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/dental_floss_036.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>