Add asset bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0

.gitattributes

@@ -5796,4 +5796,4 @@ dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/afforda
 dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/51f72b5a1358598caa9b2c97a3c3e47b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/affordance/affordance_annot.json

@@ -0,0 +1,245 @@
+{
+    "affordances": [
+        {
+            "part_name": "toothbrush body and handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main handle/body to pick up the toothbrush",
+                    "confidence": 0.99
+                },
+                {
+                    "scenario": "hold the handle to orient the brush head during brushing",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the body to stabilize the toothbrush while placing or retrieving it",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support the brush head",
+                "house the internal mechanism",
+                "provide reach and leverage",
+                "stabilize during brushing"
+            ],
+            "semantic_description": "Large pink plastic electric toothbrush body and handle with a smooth glossy surface, elongated rounded shape, wider base, a visible oval button on the front, and printed branding on the handle area.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9917771816253662,
+                    "position": [
+                        0.01451809611171484,
+                        -0.10282294431817718,
+                        -0.0013970836298540235
+                    ],
+                    "orientation": {
+                        "w": 0.4974129573338227,
+                        "xyz": [
+                            -0.49620835607807934,
+                            -0.4950257587021205,
+                            -0.511182076618597
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9916893243789673,
+                    "position": [
+                        -0.009684321965323761,
+                        -0.09908010790240951,
+                        -0.0010457620373927057
+                    ],
+                    "orientation": {
+                        "w": 0.5586051119705421,
+                        "xyz": [
+                            -0.4201031665217461,
+                            0.5627432907500267,
+                            0.44135433279238506
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9910996556282043,
+                    "position": [
+                        0.01759431231766939,
+                        0.10150774588692002,
+                        -0.0017602713778614998
+                    ],
+                    "orientation": {
+                        "w": 0.4893171683092176,
+                        "xyz": [
+                            0.5065468181381619,
+                            -0.49637166448892966,
+                            0.507537388302027
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9910812973976135,
+                    "position": [
+                        0.013048556633293629,
+                        -0.10444889197242446,
+                        -0.0021164834033697844
+                    ],
+                    "orientation": {
+                        "w": 0.5043016558916191,
+                        "xyz": [
+                            -0.4945557358947558,
+                            0.5033579572684004,
+                            0.49772003256163105
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9904592037200928,
+                    "position": [
+                        0.009060417301952839,
+                        -0.10272729376447387,
+                        0.006298866588622332
+                    ],
+                    "orientation": {
+                        "w": 0.5061058487539456,
+                        "xyz": [
+                            -0.4978215226896957,
+                            0.5176508506372104,
+                            0.4775648628600449
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9904384016990662,
+                    "position": [
+                        0.008654349483549595,
+                        -0.1033121568907518,
+                        -0.00762201240286231
+                    ],
+                    "orientation": {
+                        "w": 0.5252561466960125,
+                        "xyz": [
+                            -0.47849068106454945,
+                            0.4900449854855541,
+                            0.5049837231960094
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9903780221939087,
+                    "position": [
+                        0.00924792792648077,
+                        0.1004493834625464,
+                        -0.0064753033220767975
+                    ],
+                    "orientation": {
+                        "w": 0.49841114043141016,
+                        "xyz": [
+                            0.5001947833354148,
+                            -0.48290602078861133,
+                            0.5178738156192179
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9903333783149719,
+                    "position": [
+                        0.01494873221963644,
+                        -0.104434519802453,
+                        -0.005391155369579792
+                    ],
+                    "orientation": {
+                        "w": 0.5182994356733974,
+                        "xyz": [
+                            -0.49178045209472776,
+                            0.48662226762185556,
+                            0.5027091112887313
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.990301251411438,
+                    "position": [
+                        0.008256454952061176,
+                        -0.10357318053138442,
+                        -0.0009689113358035684
+                    ],
+                    "orientation": {
+                        "w": 0.5045581063325256,
+                        "xyz": [
+                            -0.4955072360789477,
+                            -0.503815875581685,
+                            -0.4960476386793893
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9902093410491943,
+                    "position": [
+                        0.01108045969158411,
+                        -0.10011861452949233,
+                        -0.013859749305993319
+                    ],
+                    "orientation": {
+                        "w": 0.5629374163846591,
+                        "xyz": [
+                            -0.4422212883039958,
+                            0.49089415312030393,
+                            0.4965528449593441
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9899556636810303,
+                    "position": [
+                        0.016222278587520123,
+                        0.09854132702457719,
+                        -0.018758691381663084
+                    ],
+                    "orientation": {
+                        "w": 0.5409875509631471,
+                        "xyz": [
+                            0.46825611700616376,
+                            0.4493812554152512,
+                            -0.5349066889380032
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9898017048835754,
+                    "position": [
+                        0.0017961803823709488,
+                        0.09474159052479081,
+                        0.03766510495916009
+                    ],
+                    "orientation": {
+                        "w": 0.38584384271578537,
+                        "xyz": [
+                            0.6066071670561172,
+                            -0.5653554704918213,
+                            0.4043828209746797
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bristle tuft",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "clean teeth surfaces",
+                "scrub plaque",
+                "reach into small gaps",
+                "contact the mouth during brushing"
+            ],
+            "semantic_description": "Small compact bristle cluster at the toothbrush tip, with multicolored synthetic bristles including yellow, blue, and pink, giving a fine textured appearance on the rounded brush head.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65801d39869cd16ba03a526a443787b35036160c7e74b11a6a481fe48925c30e
+size 3877640

dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/toothbrush_022.urdf

@@ -57,6 +57,7 @@
                <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>