Add asset bathroom_supplies/personal_care/ff6daa8099b75a00917d64f3a2d54454

.gitattributes

@@ -5883,4 +5883,4 @@ dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/afforda
 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/ff4e4d96ddf25057bbec94f964abe210/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/ff6daa8099b75a00917d64f3a2d54454/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/ff6daa8099b75a00917d64f3a2d54454/affordance/affordance_annot.json

@@ -0,0 +1,379 @@
+{
+    "affordances": [
+        {
+            "part_name": "razor handle",
+            "mask_color": "Orange",
+            "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 a target surface",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle to relocate or store the razor",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support razor control",
+                "connect head to hand position",
+                "provide reach and leverage"
+            ],
+            "semantic_description": "Long off-white plastic handle with a matte to satin finish, slim rounded rectangular shape, and textured grip panels along the center, extending from the neck to the hanging hole.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.8982229828834534,
+                    "position": [
+                        0.0005783483211416751,
+                        -0.13871439779177308,
+                        -0.004938093599776039
+                    ],
+                    "orientation": {
+                        "w": 0.5366389825693569,
+                        "xyz": [
+                            -0.4986220741524008,
+                            0.4801219283906888,
+                            0.4825738942724625
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.8923577070236206,
+                    "position": [
+                        0.0014058280212339014,
+                        -0.1361981281079352,
+                        0.0011927873092645314
+                    ],
+                    "orientation": {
+                        "w": 0.512945557168576,
+                        "xyz": [
+                            -0.5011751020396468,
+                            0.5006986761201658,
+                            0.4847795459877432
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.8620302081108093,
+                    "position": [
+                        0.04648727606399916,
+                        -0.13265121961012483,
+                        -0.0038601107698923443
+                    ],
+                    "orientation": {
+                        "w": 0.375810748277611,
+                        "xyz": [
+                            -0.5938385678803074,
+                            0.3605769254151694,
+                            0.6132750750153076
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.8618829250335693,
+                    "position": [
+                        -0.049503959162393585,
+                        -0.12885172152891755,
+                        0.0013034889670962002
+                    ],
+                    "orientation": {
+                        "w": 0.6217037871544031,
+                        "xyz": [
+                            -0.3670383529347175,
+                            0.6071679761009318,
+                            0.3318347439770893
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8440083861351013,
+                    "position": [
+                        0.0012006399629171938,
+                        -0.1349130072630942,
+                        -0.0012912763086205814
+                    ],
+                    "orientation": {
+                        "w": 0.5541286032429108,
+                        "xyz": [
+                            -0.5488134334081961,
+                            -0.42724569706802995,
+                            -0.4573908839445989
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8358975648880005,
+                    "position": [
+                        0.052271996246417984,
+                        -0.1314664133824408,
+                        -0.0001719392057566438
+                    ],
+                    "orientation": {
+                        "w": 0.35557575746972514,
+                        "xyz": [
+                            -0.6253874478103524,
+                            0.34102078665607627,
+                            0.6051125877797917
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.834854006767273,
+                    "position": [
+                        0.0023874226899351925,
+                        -0.1440851935185492,
+                        -0.003977122370997677
+                    ],
+                    "orientation": {
+                        "w": 0.516665802803188,
+                        "xyz": [
+                            -0.5003290850830969,
+                            0.49145367802087025,
+                            0.49112171321720943
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade cartridge",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cartridge sides during cartridge replacement or disposal",
+                    "confidence": 0.48
+                },
+                {
+                    "scenario": "hold the head assembly briefly to stabilize the razor during maintenance",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "support cutting edges",
+                "contact shaving surface",
+                "guide shaving stroke",
+                "mount blade elements"
+            ],
+            "semantic_description": "Compact blue cartridge with dark end caps and visible parallel metal blades, made of hard plastic and metal, broad rectangular form, positioned at the end of the razor.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.9500854015350342,
+                    "position": [
+                        -0.1029096910788212,
+                        0.030640100594609976,
+                        -0.006094255139032612
+                    ],
+                    "orientation": {
+                        "w": 0.7136953795225246,
+                        "xyz": [
+                            0.021576361872665338,
+                            0.7001178914908766,
+                            0.0028816437859181736
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.8828800320625305,
+                    "position": [
+                        -0.10606466178433038,
+                        0.03375655924901366,
+                        -0.0006243773423193488
+                    ],
+                    "orientation": {
+                        "w": 0.020005279862629892,
+                        "xyz": [
+                            0.7003580207734289,
+                            0.003156252987366437,
+                            0.7135043584891563
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9015285968780518,
+                    "position": [
+                        -0.1020065018965397,
+                        0.037994211073964834,
+                        -0.0001845241968112532
+                    ],
+                    "orientation": {
+                        "w": 0.7034587064306748,
+                        "xyz": [
+                            0.01659303590073174,
+                            0.7105096221086453,
+                            -0.00682615539736905
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.8955142498016357,
+                    "position": [
+                        0.09303832854493521,
+                        0.07682505017146468,
+                        -7.409662430291064e-05
+                    ],
+                    "orientation": {
+                        "w": 0.16616510539044524,
+                        "xyz": [
+                            0.680033151183721,
+                            0.18769059188475867,
+                            -0.6889965985109577
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.95196932554245,
+                    "position": [
+                        -0.10178710464970209,
+                        0.029587028082460165,
+                        -0.002840728386217961
+                    ],
+                    "orientation": {
+                        "w": 0.7078777419763113,
+                        "xyz": [
+                            0.0093931311372314,
+                            0.7062537295214708,
+                            0.005151799585624603
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot neck",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect handle to head",
+                "enable head articulation",
+                "transfer shaving force",
+                "set head angle"
+            ],
+            "semantic_description": "Small off-white to pale cream plastic neck/yoke with a smooth hard finish and rounded forked shape, positioned between the handle and blade cartridge as the hinge area.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade strip",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "assist skin contact",
+                "condition during shaving",
+                "reduce drag near blades",
+                "indicate wear area"
+            ],
+            "semantic_description": "Thin teal-green strip on the cartridge face, smooth and narrow, running parallel to the blades near the top edge of the head.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "grip inset",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "improve hand traction",
+                "reduce slipping",
+                "indicate grip zone",
+                "add handling comfort"
+            ],
+            "semantic_description": "Elongated dark blue rubber-like inset with a matte finish, recessed along the handle center as a slim traction pad.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hanging hole insert",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enable hanging storage",
+                "define lanyard hole opening",
+                "indicate handle end orientation"
+            ],
+            "semantic_description": "Small dark gray to black oval opening/insert within the hole at the handle end, recessed inside the off-white plastic loop used for hanging.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot button of razor",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support pivot mechanism",
+                "retain head connection",
+                "act as hinge hub"
+            ],
+            "semantic_description": "Small dark red-brown circular element with a smooth hard finish, centered in the neck joint area as the visible hub of the head connection.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cartridge side cap",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the cartridge side cap area to help remove or install the cartridge",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "cover cartridge edge",
+                "protect cartridge side",
+                "help define cartridge width"
+            ],
+            "semantic_description": "Small light-colored side pieces at the cartridge ends, with hard smooth plastic surfaces and narrow block-like shapes capping the head edges.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_41": {
+                    "confidence": 0.5636564493179321,
+                    "position": [
+                        -0.002119077049428597,
+                        0.11897163605317473,
+                        0.012576657227327814
+                    ],
+                    "orientation": {
+                        "w": 0.6759757868822143,
+                        "xyz": [
+                            0.728852547881278,
+                            -0.08129953764451292,
+                            0.07225707006742964
+                        ]
+                    }
+                },
+                "grasp_42": {
+                    "confidence": 0.4453307092189789,
+                    "position": [
+                        -0.00455424832762219,
+                        0.12707113241776824,
+                        0.008349452047696104
+                    ],
+                    "orientation": {
+                        "w": 0.6967064645304206,
+                        "xyz": [
+                            0.7147529806160499,
+                            -0.033144808227356215,
+                            0.0512806071489625
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-part mapping and colors are wrong for several parts; some named parts are not distinct physical components."
+    }
+}

dataset/bathroom_supplies/personal_care/ff6daa8099b75a00917d64f3a2d54454/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8047381d237e8da9627add2cb31c3396d8dd9fd9d9e15fd1604edede34e277b4
+size 3804848

dataset/bathroom_supplies/personal_care/ff6daa8099b75a00917d64f3a2d54454/razor_005.urdf

@@ -45,16 +45,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>20</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>