Add asset bathroom_supplies/personal_care/4c0f0617664250e0be58ece44a1a3192

.gitattributes

@@ -5789,3 +5789,4 @@ dataset/bathroom_supplies/personal_care/47c670995f935657a879fde452a35586/afforda
 dataset/bathroom_supplies/personal_care/4a041813f401503fb5a44b246affc3c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4b98095bca2f5c12aac660bd5b7f6e01/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/4c0f0617664250e0be58ece44a1a3192/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/4c0f0617664250e0be58ece44a1a3192/affordance/affordance_annot.json

@@ -0,0 +1,331 @@
+{
+    "affordances": [
+        {
+            "part_name": "comb body and handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and use the comb",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the body/handle area to orient the comb while grooming",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch the back side of the body to stabilize the comb during manipulation",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support comb structure",
+                "connect handle to teeth",
+                "provide leverage for grooming",
+                "provide overall orientation"
+            ],
+            "semantic_description": "Large bright turquoise-blue plastic body and rounded handle with a smooth glossy finish, forming the main frame around the teeth.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9790215492248535,
+                    "position": [
+                        -0.14044009149074554,
+                        0.07745459955185652,
+                        -0.002830836281646043
+                    ],
+                    "orientation": {
+                        "w": 0.6367995116215037,
+                        "xyz": [
+                            0.3180988364251665,
+                            0.6232975646535133,
+                            -0.32372775315157787
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.978257417678833,
+                    "position": [
+                        -0.17904064059257507,
+                        -0.003808162407949567,
+                        0.004571637080516666
+                    ],
+                    "orientation": {
+                        "w": 0.6955811068641103,
+                        "xyz": [
+                            0.00777907616253966,
+                            0.7182593140498734,
+                            -0.01449025632494281
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9781374931335449,
+                    "position": [
+                        -0.1801459640264511,
+                        0.007304753176867962,
+                        0.00668021006276831
+                    ],
+                    "orientation": {
+                        "w": 0.04260449263259161,
+                        "xyz": [
+                            0.7129315973917392,
+                            0.000983513761073418,
+                            0.6999374453111249
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9781036376953125,
+                    "position": [
+                        -0.18224185705184937,
+                        0.00010083848610520363,
+                        0.002546552976127714
+                    ],
+                    "orientation": {
+                        "w": 0.693519525938038,
+                        "xyz": [
+                            0.024425848207119523,
+                            0.7196893101342916,
+                            -0.021939506841983546
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.977980375289917,
+                    "position": [
+                        -0.1360524594783783,
+                        -0.11057012248784304,
+                        0.0035681388690136373
+                    ],
+                    "orientation": {
+                        "w": 0.6186614926711842,
+                        "xyz": [
+                            -0.35384988895662095,
+                            0.6227662557009637,
+                            0.3228163631717755
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9779003262519836,
+                    "position": [
+                        -0.17873182892799377,
+                        0.011731096543371677,
+                        0.002542966918554157
+                    ],
+                    "orientation": {
+                        "w": 0.09799505961751047,
+                        "xyz": [
+                            0.7046933937571119,
+                            -0.02840721652999878,
+                            0.7021376069793314
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9776826500892639,
+                    "position": [
+                        -0.17668507993221283,
+                        0.025803684256970882,
+                        0.004255911742802709
+                    ],
+                    "orientation": {
+                        "w": 0.6921689497996386,
+                        "xyz": [
+                            0.07720638452319,
+                            0.7080817317693748,
+                            -0.11645419810640553
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9776650667190552,
+                    "position": [
+                        -0.178494393825531,
+                        0.00161778274923563,
+                        0.0036150668165646493
+                    ],
+                    "orientation": {
+                        "w": 0.6915721830842477,
+                        "xyz": [
+                            0.02709982049838229,
+                            0.7213658147747806,
+                            -0.024997531625343846
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9774261116981506,
+                    "position": [
+                        -0.1804882138967514,
+                        -5.144113674759865e-05,
+                        0.0007470816490240395
+                    ],
+                    "orientation": {
+                        "w": 0.049885376019097726,
+                        "xyz": [
+                            0.705385026309935,
+                            0.008704714898174926,
+                            0.7070131836505649
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9771726727485657,
+                    "position": [
+                        -0.17970459163188934,
+                        0.009887712076306343,
+                        0.0004419375618454069
+                    ],
+                    "orientation": {
+                        "w": 0.7042074368414999,
+                        "xyz": [
+                            0.016528608637718746,
+                            0.7086207841943478,
+                            -0.040930125841660114
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9768707752227783,
+                    "position": [
+                        -0.18254393339157104,
+                        0.0032534748315811157,
+                        0.0006600757478736341
+                    ],
+                    "orientation": {
+                        "w": 0.7069585502552193,
+                        "xyz": [
+                            0.04525677930383961,
+                            0.703893828471318,
+                            -0.051912526311795944
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9766775369644165,
+                    "position": [
+                        -0.1623152792453766,
+                        0.05171023961156607,
+                        -0.00041132469777949154
+                    ],
+                    "orientation": {
+                        "w": 0.6802332461372587,
+                        "xyz": [
+                            0.1881874943990166,
+                            0.6806280076518475,
+                            -0.19650372261426538
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9765150547027588,
+                    "position": [
+                        -0.13492198288440704,
+                        0.08323630224913359,
+                        -0.006384196749422699
+                    ],
+                    "orientation": {
+                        "w": 0.6427065855133627,
+                        "xyz": [
+                            0.3163803310580837,
+                            0.6054187374557933,
+                            -0.34684273582528
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "comb teeth",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate hair strands",
+                "comb and smooth hair",
+                "detangle lightly",
+                "provide grooming contact"
+            ],
+            "semantic_description": "Dense row of short fine turquoise-blue plastic teeth with a glossy smooth finish, aligned along one side of the comb head as the grooming edge.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed character decals",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate surface",
+                "provide visual identification",
+                "add child-friendly styling"
+            ],
+            "semantic_description": "Small flat multicolored printed cartoon graphics on the outer face of the turquoise comb body, glossy and non-structural.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed shield/logo decal",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate surface",
+                "provide branding or themed identification",
+                "add visual detail"
+            ],
+            "semantic_description": "Small flat blue printed shield- or crest-like outline decal on the turquoise comb body near the character graphics, glossy and non-structural.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small accent decal",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate surface",
+                "provide visual contrast",
+                "support themed appearance"
+            ],
+            "semantic_description": "Tiny flat printed purple accent mark among the decorative graphics on the turquoise comb body, glossy and non-structural.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small accent decal",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate surface",
+                "provide visual contrast",
+                "support themed appearance"
+            ],
+            "semantic_description": "Tiny flat printed yellow accent mark on the turquoise body near the other graphics, glossy and non-structural.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small accent decal",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate surface",
+                "provide visual contrast",
+                "support themed appearance"
+            ],
+            "semantic_description": "Tiny flat printed orange accent mark on the turquoise body near the other decorative graphics, glossy and non-structural.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several decal parts misidentified; mask colors and descriptions do not match visible graphics, including blue shield and generic accent labels."
+    }
+}

dataset/bathroom_supplies/personal_care/4c0f0617664250e0be58ece44a1a3192/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8382651976e6947010983f3f7eb63e2ecc06b92b4e900061e065d15c520d1f5
+size 3784480

dataset/bathroom_supplies/personal_care/4c0f0617664250e0be58ece44a1a3192/comb_017.urdf

@@ -58,6 +58,7 @@
                <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>