Add asset bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24

.gitattributes

@@ -5804,3 +5804,4 @@ dataset/bathroom_supplies/personal_care/54712a3528085067b67e2bd4ee5b08e0/afforda
 dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/affordance/affordance_annot.json

@@ -0,0 +1,222 @@
+{
+    "affordances": [
+        {
+            "part_name": "toothbrush handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and reposition the toothbrush",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle while brushing a surface or teeth",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the toothbrush during tool use",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "main grip area",
+                "support toothbrush body",
+                "transmit brushing motion",
+                "house internal mechanism"
+            ],
+            "semantic_description": "Large elongated light gray plastic handle with a matte smooth hard surface, rounded rectangular shape, positioned at the rear, with a visible button and subtle printed markings.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9926631450653076,
+                    "position": [
+                        -0.04017134662717581,
+                        0.09206266855471767,
+                        -0.007131023099645972
+                    ],
+                    "orientation": {
+                        "w": 0.5896865329834121,
+                        "xyz": [
+                            0.4015593278046808,
+                            0.5656005078724612,
+                            -0.4136616546955617
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9924519658088684,
+                    "position": [
+                        0.00024233292788267136,
+                        0.09671963160508312,
+                        -0.0007035854505375028
+                    ],
+                    "orientation": {
+                        "w": 0.4972240732374745,
+                        "xyz": [
+                            0.4963454193057086,
+                            -0.49965032327240244,
+                            0.5067139234135558
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9921901822090149,
+                    "position": [
+                        0.0010587237775325775,
+                        -0.004082050494616851,
+                        -0.10012479894794524
+                    ],
+                    "orientation": {
+                        "w": 0.7127237273076185,
+                        "xyz": [
+                            0.0023904723866530193,
+                            0.0007242151358599624,
+                            -0.7014404106457949
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9920766353607178,
+                    "position": [
+                        -0.003332270309329033,
+                        0.0005029072053730488,
+                        -0.09835855686105788
+                    ],
+                    "orientation": {
+                        "w": 0.7054450010159509,
+                        "xyz": [
+                            0.008337997174136944,
+                            0.009616840387986936,
+                            -0.708650368465071
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.992038369178772,
+                    "position": [
+                        -0.008466803003102541,
+                        0.09589309399598278,
+                        -0.00100992014631629
+                    ],
+                    "orientation": {
+                        "w": 0.5081268894324447,
+                        "xyz": [
+                            0.4944981113699402,
+                            0.5093757871202934,
+                            -0.48766278265093366
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9920104742050171,
+                    "position": [
+                        -0.024208474904298782,
+                        0.09803330307477154,
+                        -0.0009181916248053312
+                    ],
+                    "orientation": {
+                        "w": 0.4860681473421269,
+                        "xyz": [
+                            0.5083260190991226,
+                            -0.48324769705323767,
+                            0.5213579171154626
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9919798374176025,
+                    "position": [
+                        -0.00042936671525239944,
+                        0.09782114034169354,
+                        -0.0026998422108590603
+                    ],
+                    "orientation": {
+                        "w": 0.4911370088057962,
+                        "xyz": [
+                            0.5006048183246128,
+                            -0.48736761151841335,
+                            0.5202423144019653
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9918975830078125,
+                    "position": [
+                        -0.014826068887487054,
+                        0.001164064888143912,
+                        -0.09851588332094252
+                    ],
+                    "orientation": {
+                        "w": 0.7045734993051412,
+                        "xyz": [
+                            -0.0016799360583243143,
+                            0.015159306835951791,
+                            -0.7094670938866727
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9918213486671448,
+                    "position": [
+                        -0.017282630316913128,
+                        0.09817608600133099,
+                        -0.0023252759128808975
+                    ],
+                    "orientation": {
+                        "w": 0.4972134091451843,
+                        "xyz": [
+                            0.5063194159330012,
+                            -0.4849666273927573,
+                            0.5111035561711376
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "toothbrush neck and head",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the head to orient the toothbrush in a fixture or inspection task",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "pinch the neck to stabilize the toothbrush during precise manipulation",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "support bristle mount",
+                "reach into mouth",
+                "position bristles",
+                "connect handle to brush head"
+            ],
+            "semantic_description": "Slim light gray plastic neck leading to a small oval brush head with a smooth hard surface at the front of the toothbrush, shaped for reaching and positioning the bristles.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_31": {
+                    "confidence": 0.777606189250946,
+                    "position": [
+                        -0.19467718619853258,
+                        -0.0017409238207619637,
+                        0.001702139968983829
+                    ],
+                    "orientation": {
+                        "w": 0.7034053256162711,
+                        "xyz": [
+                            -0.018726631071227136,
+                            0.7096091644628115,
+                            -0.036401852889380484
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d57810db501db4b63a739e6cd245952cc352b2042c7692697f7febad6c8f68d2
+size 3783680

dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/toothbrush_027.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>5</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>