Add asset bathroom_supplies/personal_care/918b07ba6bd95374a5865c813a1a8aa5

.gitattributes

@@ -8017,4 +8017,4 @@ dataset/bathroom_supplies/personal_care/8e06a014297553a889579ad2b01d31de/afforda
 dataset/bathroom_supplies/personal_care/8ff578405af35fc183c3a41850888a8d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9068da1f13d25154a9264cfec79a2d3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/910abc76ae085ce085c2d7d1c64e6cfd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/918b07ba6bd95374a5865c813a1a8aa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/918b07ba6bd95374a5865c813a1a8aa5/affordance/affordance_annot.json

@@ -0,0 +1,219 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and reposition the toothbrush",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to stabilize the toothbrush during brushing or inspection",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "grasp the handle to place the toothbrush into a holder or charger area",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support manipulation",
+                "provide reach",
+                "stabilize the toothbrush body"
+            ],
+            "semantic_description": "Long white plastic handle with a smooth mostly matte finish and hard texture, forming the largest slightly tapered body section of the toothbrush. A small recessed button and a small indicator area are visible on the front.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9917482137680054,
+                    "position": [
+                        -0.03766126185655594,
+                        0.09422499308220722,
+                        -0.0034122270299121737
+                    ],
+                    "orientation": {
+                        "w": 0.5720775981634241,
+                        "xyz": [
+                            0.43907658274305406,
+                            0.538473778229577,
+                            -0.4358726492054916
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9909611344337463,
+                    "position": [
+                        -0.011831409763544798,
+                        -0.006695014481920225,
+                        -0.09743774740491062
+                    ],
+                    "orientation": {
+                        "w": 0.7083881065605196,
+                        "xyz": [
+                            -0.023563060913757268,
+                            -0.0003447855533704747,
+                            -0.7054296235393706
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.989525318145752,
+                    "position": [
+                        -0.05673290975391865,
+                        0.08628108719221927,
+                        -0.011533117503859103
+                    ],
+                    "orientation": {
+                        "w": 0.6312648350086634,
+                        "xyz": [
+                            0.3404577873844271,
+                            0.5890543516160242,
+                            -0.37230118712275284
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9891897439956665,
+                    "position": [
+                        -0.050421303138136864,
+                        0.08659562090269901,
+                        -0.00518960936460644
+                    ],
+                    "orientation": {
+                        "w": 0.3727544050296954,
+                        "xyz": [
+                            0.5957712783857193,
+                            -0.3358700087734441,
+                            0.6271380028256376
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9887627959251404,
+                    "position": [
+                        0.008256247267127037,
+                        0.09809830406538822,
+                        -0.002334756893105805
+                    ],
+                    "orientation": {
+                        "w": 0.5058945465692484,
+                        "xyz": [
+                            0.4918534494063247,
+                            -0.4963456094778692,
+                            0.5057587646404524
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9887340068817139,
+                    "position": [
+                        -0.05247361399233341,
+                        0.0872440151297269,
+                        -0.003523246035911143
+                    ],
+                    "orientation": {
+                        "w": 0.6094757234723308,
+                        "xyz": [
+                            0.3526544568477043,
+                            0.6017991552293663,
+                            -0.3768447337147627
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "neck",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect handle to brush head",
+                "provide reach to the mouth",
+                "position the bristle head",
+                "transmit brushing motion"
+            ],
+            "semantic_description": "Slim white plastic neck with a smooth hard surface and narrow elongated shape, extending from the handle to the head as the intermediate section of the toothbrush.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bristle block",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support bristles",
+                "provide brushing face",
+                "hold cleaning elements"
+            ],
+            "semantic_description": "Small white plastic brush head base with a smooth hard finish, compact rounded-rectangular shape, and front-end position at the tip of the toothbrush.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bristles",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "clean teeth surfaces",
+                "scrub plaque",
+                "reach between teeth",
+                "apply toothpaste during brushing"
+            ],
+            "semantic_description": "Tiny light-colored bristles, likely nylon, with a soft fine texture and short clustered tuft shape protruding from the brush head tip.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "neck collar",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "transition between handle and neck",
+                "reinforce joint area",
+                "indicate section boundary"
+            ],
+            "semantic_description": "Thin white collar-like transition ring with a smooth hard plastic appearance, wrapping around the base of the neck where it meets the handle.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "control button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "power control",
+                "mode selection",
+                "user input"
+            ],
+            "semantic_description": "Small oval button on the front of the handle, appearing slightly recessed or flush within the white plastic body; in the RGB image it appears light gray/white rather than blue.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "indicator panel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "show status",
+                "indicate charging or mode",
+                "provide visual feedback"
+            ],
+            "semantic_description": "Small rectangular indicator/detail on the lower front of the handle, flush-mounted on the white body; in the RGB image it appears light gray/white rather than orange.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/918b07ba6bd95374a5865c813a1a8aa5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df23dcb4f71f50e093ddd53de44395b50d1ca67eec3cea79232e7cd71fb78932
+size 3788152