Add asset bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c

.gitattributes

@@ -7991,3 +7991,4 @@ dataset/bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c/afforda
 dataset/bathroom_supplies/personal_care/7aee366e106e5fa6acde643f0f5466fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7b37eed30a415aec887af82cd9858406/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7b62653dd3a855e5b64b6062bad678df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/affordance/affordance_annot.json

@@ -0,0 +1,217 @@
+{
+    "affordances": [
+        {
+            "part_name": "floss dispenser body with hinged lid",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the floss container",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body steady while pulling floss from the dispenser opening",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp around the body to stabilize it while opening or closing the lid",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "contain floss spool",
+                "support hinged lid",
+                "main grasp surface",
+                "stabilize during floss dispensing",
+                "protect internal floss"
+            ],
+            "semantic_description": "Rounded pink plastic container with a smooth glossy surface, compact palm-sized form, hinged top lid, small rounded feet-like bumps, and cartoon face plus product label graphics on the exterior.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.970152735710144,
+                    "position": [
+                        0.06085616209747968,
+                        0.051987434620969,
+                        -0.07010925584472716
+                    ],
+                    "orientation": {
+                        "w": 0.9021027634043999,
+                        "xyz": [
+                            0.3126719629720987,
+                            -0.25597882292521146,
+                            -0.15139910846217905
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9693524241447449,
+                    "position": [
+                        0.03856631600501714,
+                        0.034955433453433216,
+                        -0.09109956794418395
+                    ],
+                    "orientation": {
+                        "w": 0.9646299560661168,
+                        "xyz": [
+                            0.19215264981712454,
+                            -0.16686306132456352,
+                            -0.0687250012261505
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9678309559822083,
+                    "position": [
+                        0.03256846078875242,
+                        -0.08409557223785669,
+                        -0.06461112969554961
+                    ],
+                    "orientation": {
+                        "w": 0.8814620715987049,
+                        "xyz": [
+                            -0.410827261628733,
+                            -0.20820906632772607,
+                            -0.10437701918761792
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9670215249061584,
+                    "position": [
+                        0.0084975217396277,
+                        -0.06414248526562005,
+                        -0.08326773368753493
+                    ],
+                    "orientation": {
+                        "w": 0.13428123155212665,
+                        "xyz": [
+                            -0.0678474684281516,
+                            0.3195959557910685,
+                            0.935533910087031
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9649770259857178,
+                    "position": [
+                        0.01660166167857824,
+                        -0.048043538932688534,
+                        -0.09425115608610213
+                    ],
+                    "orientation": {
+                        "w": 0.9643968518832742,
+                        "xyz": [
+                            -0.21516085910582056,
+                            -0.09180531246902457,
+                            -0.12335437320556966
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9644136428833008,
+                    "position": [
+                        -0.04693669221160235,
+                        0.09816666215192527,
+                        0.01621211669407785
+                    ],
+                    "orientation": {
+                        "w": 0.2766238910972291,
+                        "xyz": [
+                            -0.0030653993618856247,
+                            0.7291317244670876,
+                            -0.6259686530303509
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9643939137458801,
+                    "position": [
+                        0.05025120684149442,
+                        0.05692681937944144,
+                        -0.07569491886533797
+                    ],
+                    "orientation": {
+                        "w": 0.9187773461605144,
+                        "xyz": [
+                            0.3174538610092806,
+                            -0.2188490396827122,
+                            -0.08471323475406389
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9641629457473755,
+                    "position": [
+                        0.056478141334082466,
+                        0.0465255145682022,
+                        -0.08109363936819136
+                    ],
+                    "orientation": {
+                        "w": 0.9357697926369655,
+                        "xyz": [
+                            0.23089565315860308,
+                            -0.26615540551522565,
+                            -0.01354225445259138
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9636498093605042,
+                    "position": [
+                        0.04157789283635793,
+                        0.07117130130063742,
+                        -0.06986581557430327
+                    ],
+                    "orientation": {
+                        "w": 0.8849538984528231,
+                        "xyz": [
+                            0.38723642915665724,
+                            -0.1087137830642857,
+                            -0.2347037684380089
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9635418653488159,
+                    "position": [
+                        0.03216945239546476,
+                        0.03585513576399535,
+                        -0.09482155018486083
+                    ],
+                    "orientation": {
+                        "w": 0.9702283226425338,
+                        "xyz": [
+                            0.16430197691037488,
+                            -0.1478225000046698,
+                            0.09904731605635182
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side hanging hook/clip",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "small side hook may be pinched only for light reorientation, but it is not a robust gripper target",
+                    "confidence": 0.25
+                }
+            ],
+            "functional_labels": [
+                "hanging attachment point",
+                "clip or hook for carrying/attachment",
+                "side accessory"
+            ],
+            "semantic_description": "Small white plastic hook-like side attachment with a smooth glossy surface, thin curved shape, and protruding position beside the main pink case.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue part name and description overstate lid inclusion; mask separates only main body from side hook."
+    }
+}

dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45af2f785c8701a03b7c59fbbefcc10c02dec731b4b178e4d940af7621bba902
+size 3779456

dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/dental_floss_015.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>