Add asset bathroom_supplies/personal_care/314085f1747858c5a11fdac02b83ad10

.gitattributes

@@ -5766,3 +5766,4 @@ dataset/bathroom_supplies/personal_care/2d6b444cd7605f038ee543e6d6626c2e/afforda
 dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/2f449d16525858a18e8b84e8baaec1be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/30caa16d6dd759ddb11b6c6bd3351caa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/314085f1747858c5a11fdac02b83ad10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/314085f1747858c5a11fdac02b83ad10/affordance/affordance_annot.json

@@ -0,0 +1,222 @@
+{
+    "affordances": [
+        {
+            "part_name": "brush body and handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and use the hairbrush",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the neck or side of the body to reposition the brush on a surface",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "stabilize the brush by holding the body during handling or storage",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "main structural support",
+                "provide handhold for manipulation",
+                "support the bristle field",
+                "hold decorative inserts and printed graphics"
+            ],
+            "semantic_description": "Large one-piece light gray plastic body with a smooth slightly matte surface, rounded paddle-like brush head and short rounded handle, forming nearly the entire brush outline.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.985948920249939,
+                    "position": [
+                        0.10849340424465481,
+                        0.10516595048829913,
+                        -0.005629352293908596
+                    ],
+                    "orientation": {
+                        "w": 0.7097679649280784,
+                        "xyz": [
+                            0.07173624622954677,
+                            -0.696254074557081,
+                            0.07945823180395492
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9830307364463806,
+                    "position": [
+                        -0.10473671391082462,
+                        0.10567650897428393,
+                        -0.015753615414723754
+                    ],
+                    "orientation": {
+                        "w": 0.7208149563339653,
+                        "xyz": [
+                            0.06512782898137194,
+                            0.6862495108845873,
+                            -0.07242771174144234
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9790565967559814,
+                    "position": [
+                        -0.10422830864263233,
+                        0.07619252754375339,
+                        -0.013454766711220145
+                    ],
+                    "orientation": {
+                        "w": 0.058336223588029895,
+                        "xyz": [
+                            -0.6764239944096063,
+                            -0.024065869394840678,
+                            -0.733803992040593
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9780533313751221,
+                    "position": [
+                        -0.1047953797824448,
+                        0.11596544785425067,
+                        -0.010204412741586566
+                    ],
+                    "orientation": {
+                        "w": 0.7089683961086783,
+                        "xyz": [
+                            0.0947692081104744,
+                            0.6895710955711453,
+                            -0.11346503719653873
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9723983407020569,
+                    "position": [
+                        -0.10577205404115375,
+                        0.12323694629594684,
+                        -0.002766623510979116
+                    ],
+                    "orientation": {
+                        "w": 0.6883755168937832,
+                        "xyz": [
+                            0.12330076095497743,
+                            0.7034437026273574,
+                            -0.12689770416778423
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.972110390663147,
+                    "position": [
+                        -0.10554279222560581,
+                        0.13008539332076907,
+                        -0.01609445712529123
+                    ],
+                    "orientation": {
+                        "w": 0.7190953389192241,
+                        "xyz": [
+                            0.13878921664567442,
+                            0.6665112658424264,
+                            -0.1392917061158095
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9713069796562195,
+                    "position": [
+                        -0.004276317296898924,
+                        0.08746585948392749,
+                        -0.10796054708771408
+                    ],
+                    "orientation": {
+                        "w": 0.9983404289115164,
+                        "xyz": [
+                            0.00017734276659349803,
+                            0.018265157134500498,
+                            0.0546144723050979
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9684223532676697,
+                    "position": [
+                        -0.09845845981908496,
+                        0.13978415681049228,
+                        -0.01114717754535377
+                    ],
+                    "orientation": {
+                        "w": 0.6914289192682607,
+                        "xyz": [
+                            0.17716865615886807,
+                            0.6763042970586091,
+                            -0.1820709055682615
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bristles",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brush hair",
+                "detangle strands",
+                "provide contact with scalp or hair surface",
+                "create grooming friction"
+            ],
+            "semantic_description": "Dense field of light blue flexible bristles with small white rounded tips across the large oval brush head; the bristles appear smooth and slightly glossy.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small oval insert",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decoration",
+                "add visual detail on the neck area",
+                "help visually distinguish orientation"
+            ],
+            "semantic_description": "Small blue oval insert located on the narrow neck between the handle and brush head, with a smooth glossy appearance against the light gray body.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rocket graphic",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decoration",
+                "add visual identification",
+                "help distinguish the front side of the brush"
+            ],
+            "semantic_description": "Small cartoon rocket graphic printed on the upper side of the handle area, with white, orange, and blue colors on a flat smooth surface.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end oval insert",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decoration",
+                "mark the handle end",
+                "help visually distinguish orientation"
+            ],
+            "semantic_description": "Glossy dark blue oval insert at the rounded end of the handle, smooth and reflective, visually distinct from the light gray plastic body.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/314085f1747858c5a11fdac02b83ad10/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da27194eb6c2c9aaffd26eecbb123afa71627b8135e4f679940caa7a6a2a7df1
+size 3779784