Add asset bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3

.gitattributes

@@ -5882,3 +5882,4 @@ dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/afforda
 dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/fdf4cee888a75e61abf71331e86c05f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/affordance/affordance_annot.json

@@ -0,0 +1,168 @@
+{
+    "affordances": [
+        {
+            "part_name": "container lid",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to open the dental floss container",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the lid to stabilize the box during inspection or repositioning",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "cover the container",
+                "protect contents",
+                "enable opening and closing",
+                "provide top enclosure"
+            ],
+            "semantic_description": "A large pale translucent plastic top with a smooth hard surface and rounded rectangular shape, covering the upper opening of the small box.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "container body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the box body to pick up and move the dental floss container",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the body while opening the lid",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the sidewalls to place the container on a surface",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain dental floss",
+                "support the lid",
+                "provide main grasp surface",
+                "protect contents"
+            ],
+            "semantic_description": "A small rectangular light-blue plastic box base with a semi-translucent smooth hard surface, rounded corners, and printed front graphics and text on one broad face.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9282071590423584,
+                    "position": [
+                        0.036338610254460946,
+                        -0.1377384420193266,
+                        0.03112588357180357
+                    ],
+                    "orientation": {
+                        "w": 0.5698104011279135,
+                        "xyz": [
+                            -0.8023066771925274,
+                            -0.09347089078044812,
+                            0.15127225481046205
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.8765688538551331,
+                    "position": [
+                        -0.003552197333192453,
+                        -0.14233390052686445,
+                        0.008731972659006715
+                    ],
+                    "orientation": {
+                        "w": 0.09494093421717925,
+                        "xyz": [
+                            -0.09044322582198058,
+                            -0.6735213925180025,
+                            -0.7274442767205572
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.8471063375473022,
+                    "position": [
+                        0.04301105221384205,
+                        0.13845060209860094,
+                        -0.026443065144121647
+                    ],
+                    "orientation": {
+                        "w": 0.7670761646855594,
+                        "xyz": [
+                            0.6157563918449862,
+                            -0.1412540866982006,
+                            -0.11173856301382087
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.012955944985151291,
+                    "position": [
+                        -0.07432827944285236,
+                        0.010045606672065333,
+                        -0.08926854748278856
+                    ],
+                    "orientation": {
+                        "w": 0.6284871711073386,
+                        "xyz": [
+                            -0.2596888262586416,
+                            0.28958772871466376,
+                            -0.6735759323549101
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "make incidental contact with the flat bottom while supporting the container from below",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "form the base of the container",
+                "support contents from below",
+                "provide a resting surface on tables or counters"
+            ],
+            "semantic_description": "A broad flat rectangular bottom face of the light-blue translucent plastic box, smooth and unprinted in the visible views, spanning most of the underside.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch tab",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small tab to flip open the lid",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the tab delicately to reorient the container slightly",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "assist opening",
+                "secure lid closure",
+                "provide a pull point",
+                "indicate front side"
+            ],
+            "semantic_description": "A small translucent pale-blue plastic tab centered on the front upper edge, with a smooth hard finish and short protruding rectangular form used as the opening catch.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Bottom panel description and graspability are incorrect; underside is large and usable for support grasps."
+    }
+}

dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7856069cd20f5933c1eb9a40a172da5e1e60b630455ec8c9c9491b53ea3ecda
+size 3786164

dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/dental_floss_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>YES</PartSegChecker>