Add asset bathroom_supplies/personal_care/72241fd24e9255718d40c02fa2cda593

.gitattributes

@@ -7974,3 +7974,4 @@ dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/afforda
 dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/71ae55d4c0a15f4f950d96ea8d44c810/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/71d1297941105026b1334386b6e382d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/72241fd24e9255718d40c02fa2cda593/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/72241fd24e9255718d40c02fa2cda593/affordance/affordance_annot.json

@@ -0,0 +1,263 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and orient the toothbrush",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle while bringing the brush head to a target area",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "stabilize the toothbrush by clamping the handle during storage or handoff",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support the toothbrush body",
+                "provide reach and leverage",
+                "house internal electronics"
+            ],
+            "semantic_description": "Long dark gray to charcoal plastic handle with a smooth matte finish, rounded rectangular profile, largest part of the toothbrush, with a small circular button and subtle light printed markings on the front.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9897022247314453,
+                    "position": [
+                        -0.026960991322994232,
+                        0.07723605731735006,
+                        0.05332419741898775
+                    ],
+                    "orientation": {
+                        "w": 0.4230316963781705,
+                        "xyz": [
+                            0.5656241163394797,
+                            0.6650223243600488,
+                            -0.24260843138140978
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9892521500587463,
+                    "position": [
+                        -0.01060115487780422,
+                        -0.007008202781435102,
+                        -0.09783606510609388
+                    ],
+                    "orientation": {
+                        "w": 0.7138702541626073,
+                        "xyz": [
+                            -0.02016124228971433,
+                            0.02849973097473535,
+                            0.699407284681478
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9892030358314514,
+                    "position": [
+                        -0.010569617617875338,
+                        0.0957160601974465,
+                        0.009518647566437721
+                    ],
+                    "orientation": {
+                        "w": 0.4236497755628345,
+                        "xyz": [
+                            0.5479087362155023,
+                            -0.49774588141351406,
+                            0.5220784634326291
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9889742136001587,
+                    "position": [
+                        0.015318703837692738,
+                        -0.09581878682365641,
+                        -0.018935992382466793
+                    ],
+                    "orientation": {
+                        "w": 0.5466010270428845,
+                        "xyz": [
+                            -0.44328000195805006,
+                            -0.44619044176828226,
+                            -0.5528510167977991
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9889732003211975,
+                    "position": [
+                        -0.033058096654713154,
+                        -0.08503687282791361,
+                        0.03247368801385164
+                    ],
+                    "orientation": {
+                        "w": 0.2690393034442273,
+                        "xyz": [
+                            -0.6424122821284884,
+                            -0.4911075301814657,
+                            -0.5231994904162015
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9889650344848633,
+                    "position": [
+                        0.009398221038281918,
+                        -0.09075319668045267,
+                        0.03547058720141649
+                    ],
+                    "orientation": {
+                        "w": 0.36093544120640614,
+                        "xyz": [
+                            -0.5557951442435787,
+                            -0.6077350713537478,
+                            -0.43757907623999986
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9889608025550842,
+                    "position": [
+                        -0.048416594974696636,
+                        0.08139781007776037,
+                        0.025932534597814083
+                    ],
+                    "orientation": {
+                        "w": 0.5597699706765792,
+                        "xyz": [
+                            0.43043742945866553,
+                            0.6588127525153906,
+                            -0.2595129213986327
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9887626767158508,
+                    "position": [
+                        0.003429439850151539,
+                        -0.0307857328443788,
+                        0.09237512666732073
+                    ],
+                    "orientation": {
+                        "w": 0.1279153303288568,
+                        "xyz": [
+                            -0.7125202781196319,
+                            0.6824578535827126,
+                            0.10101385854653187
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "neck",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the neck for precise orientation adjustment near the brush head",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "pinch the neck to stabilize the toothbrush during inspection",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "connect handle to brush head",
+                "provide reach to the mouth",
+                "position the brush head",
+                "transmit brushing motion"
+            ],
+            "semantic_description": "Slim narrow dark gray neck extending from the handle to the head, with a smooth hard surface and a tapered shape. A light collar or transition ring is visible near the handle-neck junction.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_31": {
+                    "confidence": 0.2881656289100647,
+                    "position": [
+                        -0.17312516923993826,
+                        -0.007245647662784904,
+                        -0.00030638743191957474
+                    ],
+                    "orientation": {
+                        "w": 0.7117369601002562,
+                        "xyz": [
+                            0.0028251437328490033,
+                            0.7016801592834928,
+                            0.032672193957979705
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bristle field",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "clean teeth",
+                "scrub surfaces",
+                "contact gums gently",
+                "apply toothpaste during brushing"
+            ],
+            "semantic_description": "Small dense cluster of very dark bristles on the brush head, with a fine textured tip surface and a compact oval footprint at the toothbrush end.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back of brush head",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the bristles",
+                "form the brush head structure",
+                "provide contact backing"
+            ],
+            "semantic_description": "Small smooth back surface of the brush head behind the bristles, dark gray to black in appearance, slightly recessed within the oval head outline, located at the tip of the neck.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn brushing on or off",
+                "control operation",
+                "indicate user input location"
+            ],
+            "semantic_description": "Small circular button on the front of the upper handle, likely rubber or plastic, with a smooth slightly recessed surface and a slightly lighter tone than the dark body.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base cap",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the handle end",
+                "protect the bottom opening",
+                "provide standing or charging interface"
+            ],
+            "semantic_description": "Rounded end cap at the bottom of the handle, dark gray to black like the rest of the toothbrush, forming the terminal surface with a smooth hard finish and a small central feature visible on the underside.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Brush-head parts are mislabeled: cyan marks head body, purple marks bristle surface; handle description/button details also inaccurate."
+    }
+}

dataset/bathroom_supplies/personal_care/72241fd24e9255718d40c02fa2cda593/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d124c73c991aab4a5bd7aec64395ae71f5ba34adfd77c03e74b3ade77d558b19
+size 3786016