Add asset bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16

.gitattributes

@@ -5840,3 +5840,4 @@ dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/afforda
 dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ce6e362a51535f3f964c06561044256a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/affordance/affordance_annot.json

@@ -0,0 +1,229 @@
+{
+    "affordances": [
+        {
+            "part_name": "toothbrush handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle at the middle to pick up the toothbrush",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle near the rear end to orient the brush head toward the mouth",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the toothbrush during placement or storage",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support brushing motions",
+                "connect to the brush head",
+                "provide leverage and reach",
+                "indicate overall orientation"
+            ],
+            "semantic_description": "Long white-and-blue plastic handle with a mostly matte to lightly satin finish, hard smooth surface, slightly contoured slender shape, and larger rubberized blue grip pads along the middle and rear.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9820613265037537,
+                    "position": [
+                        0.07579394654021598,
+                        0.04154207278043032,
+                        0.007597625721246004
+                    ],
+                    "orientation": {
+                        "w": 0.6238183452781088,
+                        "xyz": [
+                            0.21517428513842926,
+                            -0.708547286722894,
+                            0.25002288212736334
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9624754786491394,
+                    "position": [
+                        -0.08518524243845604,
+                        -0.10163519438356161,
+                        -0.02336276462301612
+                    ],
+                    "orientation": {
+                        "w": 0.12965098615243217,
+                        "xyz": [
+                            -0.5893906960914832,
+                            -0.19532931780492202,
+                            -0.773081940518832
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9581957459449768,
+                    "position": [
+                        0.042638505256036296,
+                        -0.0609024902805686,
+                        0.06054505752399564
+                    ],
+                    "orientation": {
+                        "w": 0.34016306070213054,
+                        "xyz": [
+                            -0.9026052170592407,
+                            0.05349145499553387,
+                            0.25832456041511154
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.938794732093811,
+                    "position": [
+                        0.07978725657449104,
+                        -0.1244706055149436,
+                        0.011156206484884024
+                    ],
+                    "orientation": {
+                        "w": 0.2348757809972371,
+                        "xyz": [
+                            -0.7363363011836984,
+                            0.19079162120593185,
+                            0.6051783012779457
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9366278052330017,
+                    "position": [
+                        -0.08372428789152764,
+                        -0.01205491996370256,
+                        -0.0046334199141711
+                    ],
+                    "orientation": {
+                        "w": 0.7079561372975652,
+                        "xyz": [
+                            0.18145620912510527,
+                            0.655072374671897,
+                            -0.19170794395219795
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9364528656005859,
+                    "position": [
+                        0.07286271677003242,
+                        -0.0007820455357432365,
+                        0.0037758308462798595
+                    ],
+                    "orientation": {
+                        "w": 0.2757295283129078,
+                        "xyz": [
+                            0.6781501250943789,
+                            0.24066204464097618,
+                            -0.6373126511532973
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9239324331283569,
+                    "position": [
+                        0.07295833007083274,
+                        -0.13610074575990438,
+                        0.0012055514380335808
+                    ],
+                    "orientation": {
+                        "w": 0.2718647026062781,
+                        "xyz": [
+                            -0.6950251336253601,
+                            0.22467814553104204,
+                            0.6265376110231387
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9204142093658447,
+                    "position": [
+                        0.0805190302489791,
+                        -0.13648155238479376,
+                        -0.003893468528985977
+                    ],
+                    "orientation": {
+                        "w": 0.22806220546356848,
+                        "xyz": [
+                            -0.6912362734312147,
+                            0.19535255713565136,
+                            0.6572803231138007
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9192051291465759,
+                    "position": [
+                        -0.08240300192846917,
+                        -0.020937159657478333,
+                        0.008867635857313871
+                    ],
+                    "orientation": {
+                        "w": 0.6482633645376491,
+                        "xyz": [
+                            0.19941047728046793,
+                            0.7083771962034685,
+                            -0.19542727457552145
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.903425931930542,
+                    "position": [
+                        0.06915178374038078,
+                        -0.13890235032886267,
+                        0.005136904772371054
+                    ],
+                    "orientation": {
+                        "w": 0.30183026351205533,
+                        "xyz": [
+                            -0.696750925560304,
+                            0.23893942685547653,
+                            0.605264066381839
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8868662714958191,
+                    "position": [
+                        -0.07361341043724678,
+                        -0.12153785582631826,
+                        0.030577790457755327
+                    ],
+                    "orientation": {
+                        "w": 0.2309206687017442,
+                        "xyz": [
+                            -0.8017100529181272,
+                            -0.1801103971357063,
+                            -0.5210536255127406
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bristle head",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scrub teeth surfaces",
+                "clean along the gumline",
+                "apply toothpaste",
+                "provide fine contact with teeth"
+            ],
+            "semantic_description": "Small rectangular brush head at one end with tightly packed blue and white synthetic bristles, a fine slightly soft texture, and a compact protruding form attached to the narrow neck.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96d7d1112a58931edd2c10baac21d022c796135bdc1b2fefc53b1b7673d1bc6d
+size 3786988

dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/toothbrush_001.urdf

@@ -52,6 +52,7 @@
                <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>