Add asset bathroom_supplies/personal_care/71d1297941105026b1334386b6e382d2

.gitattributes

@@ -7973,3 +7973,4 @@ dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/afforda
 dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/71ae55d4c0a15f4f950d96ea8d44c810/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/71d1297941105026b1334386b6e382d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/71d1297941105026b1334386b6e382d2/affordance/affordance_annot.json

@@ -0,0 +1,195 @@
+{
+    "affordances": [
+        {
+            "part_name": "toothbrush handle",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle at the midsection to pick up and manipulate the toothbrush",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle near the end to orient the brush head for brushing",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the lower handle to stabilize the toothbrush during placement",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support brushing motion",
+                "provide reach and leverage",
+                "connect neck and brush end to handle tail"
+            ],
+            "semantic_description": "Long dark gray to black handle forming most of the toothbrush body, with a matte to slightly satin finish, subtle contouring, and a fine textured grip area. It is the largest central part and shows a small white logo on one side.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.6211438179016113,
+                    "position": [
+                        -0.1281356350518763,
+                        0.014159198326524347,
+                        0.08730116108199582
+                    ],
+                    "orientation": {
+                        "w": 0.12579235112297432,
+                        "xyz": [
+                            -0.6806958668741542,
+                            0.674967076542597,
+                            -0.25543857735850756
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.6145627498626709,
+                    "position": [
+                        -0.14562260219827294,
+                        -0.011006062442902476,
+                        0.07727633783360943
+                    ],
+                    "orientation": {
+                        "w": 0.22269369782404766,
+                        "xyz": [
+                            0.674568600504232,
+                            0.6425746804782314,
+                            0.28716284608478243
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.5780946016311646,
+                    "position": [
+                        -0.17889863857999444,
+                        0.004489953571464866,
+                        0.005374683940317482
+                    ],
+                    "orientation": {
+                        "w": 0.5915088007826204,
+                        "xyz": [
+                            0.429604101424984,
+                            0.5620579285355682,
+                            0.386844335108897
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "grip pad",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "improve hand traction",
+                "indicate grip location",
+                "provide tactile control"
+            ],
+            "semantic_description": "Small yellow oval inset on the handle, likely a rubberized or softer grip element with a matte finish, positioned around the central grip area as a traction accent.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end cap",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the end cap to pull or reorient the toothbrush from a surface",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "grasp the tail end for coarse pickup when the handle body is obstructed",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "finish the handle end",
+                "provide a small contact point",
+                "indicate handle orientation"
+            ],
+            "semantic_description": "Small dark gray to black rounded tip piece at the tail of the handle, with a smooth matte surface and compact cap-like shape.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9589313864707947,
+                    "position": [
+                        0.06846913089975715,
+                        0.09561938274418935,
+                        0.007735011575277895
+                    ],
+                    "orientation": {
+                        "w": 0.4641145320076535,
+                        "xyz": [
+                            0.5458910266061212,
+                            0.5042458725753752,
+                            -0.48201326562754454
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bristle head base",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support bristle tufts",
+                "anchor bristles to the head",
+                "form the side wall of the brush head"
+            ],
+            "semantic_description": "Compact dark gray to black head platform at the toothbrush tip, appearing as a hard plastic base with a smooth finish and shallow oval shape beneath and around the bristles.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center bristle field",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "clean tooth surfaces",
+                "scrub plaque",
+                "contact gums lightly"
+            ],
+            "semantic_description": "Cluster of dark gray to black bristles set into the center of the head, with a fine dense brush texture and narrow rectangular arrangement.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side bristle tufts",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "clean along tooth contours",
+                "assist edge scrubbing",
+                "increase brushing coverage"
+            ],
+            "semantic_description": "Small groups of dark gray to black bristles flanking the central bristle area, with fine flexible filament texture and short upright tufted form near the head edges.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "neck ring",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark transition to brush head",
+                "provide slight visual orientation cue",
+                "finish the head-handle junction"
+            ],
+            "semantic_description": "Thin orange ring-like band at the neck just before the brush head, appearing as a narrow colored accent separating the handle and head regions.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions misstate visible colors; grip pad and handle are not yellow/black, bristles and neck accent colors are incorrect."
+    }
+}

dataset/bathroom_supplies/personal_care/71d1297941105026b1334386b6e382d2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42d5750913f9f4c430551fd6306938087e3b9c97ecb7b6f7916d02a3204d3eef
+size 3814668

dataset/bathroom_supplies/personal_care/71d1297941105026b1334386b6e382d2/toothbrush_028.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>