Add asset bathroom_supplies/personal_care/0ff0f152a78e5621acc1f48ebf0e3c0d

.gitattributes

@@ -5737,3 +5737,4 @@ dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/afforda
 dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0ff0f152a78e5621acc1f48ebf0e3c0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/0ff0f152a78e5621acc1f48ebf0e3c0d/affordance/affordance_annot.json

@@ -0,0 +1,324 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle body to pick up and reposition the toothbrush",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle body while guiding the brush head during use or placement",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "stabilize the toothbrush by clamping the handle during inspection or storage",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support the toothbrush structure",
+                "provide user control body",
+                "enable manipulation and orientation"
+            ],
+            "semantic_description": "Large elongated bright pink plastic handle with a smooth slightly glossy surface, rounded rectangular shape, and white printed markings on the front, forming the main lower body of the toothbrush.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9934514760971069,
+                    "position": [
+                        0.019025377929210663,
+                        0.09691646602004766,
+                        0.004106676249648444
+                    ],
+                    "orientation": {
+                        "w": 0.4849953634310323,
+                        "xyz": [
+                            0.5133870418490938,
+                            0.5157194164899129,
+                            -0.4850223975932887
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9933211207389832,
+                    "position": [
+                        0.017796704545617104,
+                        0.09879325237125158,
+                        0.004152562512899749
+                    ],
+                    "orientation": {
+                        "w": 0.4939495481308073,
+                        "xyz": [
+                            0.5126465706484985,
+                            0.5162546529373286,
+                            -0.4761181269645849
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9932231903076172,
+                    "position": [
+                        0.021798020228743553,
+                        0.09854523744434118,
+                        0.008014086677576415
+                    ],
+                    "orientation": {
+                        "w": 0.47159116419941105,
+                        "xyz": [
+                            0.5308971895805233,
+                            0.5135082839771642,
+                            -0.48172522274775587
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.993181049823761,
+                    "position": [
+                        0.02237694524228573,
+                        0.09638786967843771,
+                        0.023467085367883556
+                    ],
+                    "orientation": {
+                        "w": 0.43501224970344526,
+                        "xyz": [
+                            0.5566991044815871,
+                            0.5545197111580208,
+                            -0.4397253001756564
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9930464625358582,
+                    "position": [
+                        0.017507757991552353,
+                        0.09611473884433508,
+                        -0.016626517244731076
+                    ],
+                    "orientation": {
+                        "w": 0.5370074551649241,
+                        "xyz": [
+                            0.4634551212393217,
+                            0.46358775925356,
+                            -0.5309601992283418
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9929152727127075,
+                    "position": [
+                        0.020981846377253532,
+                        0.09792166110128164,
+                        -0.0009325161372544244
+                    ],
+                    "orientation": {
+                        "w": 0.49723470001727493,
+                        "xyz": [
+                            0.5069745163136393,
+                            0.507453448358606,
+                            -0.48808348738329843
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9927563071250916,
+                    "position": [
+                        0.02521117590367794,
+                        0.09825069364160299,
+                        -0.003755920522962697
+                    ],
+                    "orientation": {
+                        "w": 0.5041473054399654,
+                        "xyz": [
+                            0.4931796164426617,
+                            -0.490656411389944,
+                            0.5117280980218247
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.992576539516449,
+                    "position": [
+                        0.023234916850924492,
+                        0.09952174033969641,
+                        0.003976570253144018
+                    ],
+                    "orientation": {
+                        "w": 0.4920603630163062,
+                        "xyz": [
+                            0.5154225391459446,
+                            0.5185209443705333,
+                            -0.47260156108258683
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9925225377082825,
+                    "position": [
+                        0.02205960638821125,
+                        0.09965305682271719,
+                        -0.001391743149724789
+                    ],
+                    "orientation": {
+                        "w": 0.4999808589282072,
+                        "xyz": [
+                            0.5089646353034809,
+                            0.49844112632729654,
+                            -0.4924739427638614
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9924525618553162,
+                    "position": [
+                        0.007723825052380562,
+                        0.09498707111924887,
+                        0.018602953336085193
+                    ],
+                    "orientation": {
+                        "w": 0.44243125752926393,
+                        "xyz": [
+                            0.5352555974959599,
+                            0.555141730829818,
+                            -0.457792186916281
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn the toothbrush on and off",
+                "provide control input",
+                "indicate control location"
+            ],
+            "semantic_description": "Small circular slightly recessed pink button on the front of the handle near the upper-middle area, with a smooth surface and subtle contrast against the pink handle.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "neck",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect handle to brush head",
+                "position the brush head away from the handle",
+                "transmit brushing motion",
+                "provide reach"
+            ],
+            "semantic_description": "Slim bright pink plastic neck with a smooth slightly glossy surface, tapering from the handle to the head and forming a narrow connector section.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "brush head base",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support bristle tufts",
+                "define brushing head shape",
+                "position cleaning elements"
+            ],
+            "semantic_description": "Small rounded bright pink plastic head at the tip of the neck, with a smooth slightly glossy surface and rounded edges, serving as the base that holds the bristle clusters.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "light blue bristle tuft",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scrub tooth surfaces",
+                "clean along tooth contours",
+                "contact oral surfaces"
+            ],
+            "semantic_description": "Short light blue synthetic bristles with a fine soft texture, arranged in small upright clusters around portions of the brush head.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "yellow bristle tuft",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scrub tooth surfaces",
+                "target central cleaning area",
+                "contact oral surfaces"
+            ],
+            "semantic_description": "Small yellow synthetic bristle cluster with a fine soft texture, standing upright near the center region of the brush head.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "orange bristle tuft",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scrub tooth surfaces",
+                "assist detailed cleaning",
+                "contact oral surfaces"
+            ],
+            "semantic_description": "Small orange synthetic bristle cluster with a fine soft texture, visible as a short upright tuft on the brush head.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "purple bristle tuft",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scrub tooth surfaces",
+                "assist detailed cleaning",
+                "contact oral surfaces"
+            ],
+            "semantic_description": "Small purple synthetic bristle cluster with a fine soft texture, appearing as a short upright tuft on the brush head.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "brown bristle tuft",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scrub tooth surfaces",
+                "provide gentle contact",
+                "contact oral surfaces"
+            ],
+            "semantic_description": "Short brown synthetic bristles with a fine soft texture, arranged in a small upright cluster on the brush head.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "magenta bristle tuft",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scrub tooth surfaces",
+                "assist localized cleaning",
+                "contact oral surfaces"
+            ],
+            "semantic_description": "Small magenta synthetic bristle cluster with a fine soft texture, visible as a compact colored tuft on the brush head.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Brush head and bristle part identities/colors are mismatched; button color/description also inaccurate."
+    }
+}

dataset/bathroom_supplies/personal_care/0ff0f152a78e5621acc1f48ebf0e3c0d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22df86d7ec93816f463a389c325d2320e225ff5162f70591b3053e15b985157d
+size 3788872