Add asset bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4

.gitattributes

@@ -5741,3 +5741,4 @@ dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/afforda
 dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/130bfb6245af5722a0c4ffbbf12389ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/affordance/affordance_annot.json

@@ -0,0 +1,245 @@
+{
+    "affordances": [
+        {
+            "part_name": "toothbrush body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and move the toothbrush",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the handle to orient the bristles for brushing",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the middle of the body to stabilize the toothbrush during manipulation",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide the main grip",
+                "support brushing motion",
+                "connect handle to brush head",
+                "enable orientation and control"
+            ],
+            "semantic_description": "Single-piece black plastic toothbrush body with a mostly glossy hard smooth surface, slightly contoured elongated shape, a wider rounded handle tapering to a narrow neck and compact brush head, with small silver oval inlays/logos visible on the handle.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9939305782318115,
+                    "position": [
+                        -0.011821285064797848,
+                        0.09065132694377098,
+                        -0.008218692848458886
+                    ],
+                    "orientation": {
+                        "w": 0.6009824241438049,
+                        "xyz": [
+                            0.37027460263911455,
+                            0.5764559489369135,
+                            -0.4116010002975255
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9935703277587891,
+                    "position": [
+                        0.04216381348669529,
+                        -0.017029474358423613,
+                        -0.09807460498996079
+                    ],
+                    "orientation": {
+                        "w": 0.6982749143476152,
+                        "xyz": [
+                            -0.03710377524629548,
+                            -0.05967750177102804,
+                            -0.7123721286221638
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.993285059928894,
+                    "position": [
+                        0.023121045902371407,
+                        0.09749867873324547,
+                        -0.002803086070343852
+                    ],
+                    "orientation": {
+                        "w": 0.5192128778791281,
+                        "xyz": [
+                            0.49190782854658927,
+                            0.4900237930347069,
+                            -0.49831853057951997
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9932623505592346,
+                    "position": [
+                        0.01358933374285698,
+                        0.09805283801688347,
+                        -0.006241131806746125
+                    ],
+                    "orientation": {
+                        "w": 0.5317032285800409,
+                        "xyz": [
+                            0.5147366576854225,
+                            -0.44020642359695394,
+                            0.5084841733784646
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9931086301803589,
+                    "position": [
+                        -0.018220873549580574,
+                        0.07893062489165459,
+                        0.037105805007740855
+                    ],
+                    "orientation": {
+                        "w": 0.2597387645811262,
+                        "xyz": [
+                            0.6800681271445217,
+                            -0.46517692384312925,
+                            0.5036402943965628
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9930099248886108,
+                    "position": [
+                        0.028570162132382393,
+                        0.09925403552188072,
+                        -0.0017051377799361944
+                    ],
+                    "orientation": {
+                        "w": 0.5094482511265414,
+                        "xyz": [
+                            0.5004707770547281,
+                            -0.48402391697503977,
+                            0.5056800653916316
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9928399324417114,
+                    "position": [
+                        -0.012937010731548071,
+                        0.08796231554879341,
+                        0.014707206515595317
+                    ],
+                    "orientation": {
+                        "w": 0.3369013990783922,
+                        "xyz": [
+                            0.6294040082728694,
+                            -0.39388871457851193,
+                            0.5789643531313091
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9926795959472656,
+                    "position": [
+                        -0.04264331795275211,
+                        0.08869909601344261,
+                        -0.012286318698897958
+                    ],
+                    "orientation": {
+                        "w": 0.430938154295297,
+                        "xyz": [
+                            0.5628230395532128,
+                            -0.33797518355319356,
+                            0.6191084788813912
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9923592209815979,
+                    "position": [
+                        0.0373519416898489,
+                        0.09895042436255608,
+                        -0.006204659352079034
+                    ],
+                    "orientation": {
+                        "w": 0.5092555725332579,
+                        "xyz": [
+                            0.49169111312236835,
+                            -0.47863831596109263,
+                            0.5194265815437633
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9922767281532288,
+                    "position": [
+                        0.013755721971392632,
+                        0.0049793125508585945,
+                        0.09721074509434402
+                    ],
+                    "orientation": {
+                        "w": 0.07142342338390632,
+                        "xyz": [
+                            0.7198377492516669,
+                            0.6900288632817496,
+                            0.02434085418620596
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9920897483825684,
+                    "position": [
+                        -0.0014390340074896812,
+                        0.09021961795224342,
+                        0.01825508172623813
+                    ],
+                    "orientation": {
+                        "w": 0.5234582652525382,
+                        "xyz": [
+                            0.43794568507285886,
+                            0.6269259756515919,
+                            -0.3757111157766925
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9918068647384644,
+                    "position": [
+                        0.004014459438621998,
+                        -0.006121233906014822,
+                        -0.09154022973962128
+                    ],
+                    "orientation": {
+                        "w": 0.6837177707278692,
+                        "xyz": [
+                            -0.15095136833908254,
+                            0.11307009243074062,
+                            -0.7049530825417928
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9917968511581421,
+                    "position": [
+                        -0.03983666002750397,
+                        0.08581777023209725,
+                        -0.005998189328238368
+                    ],
+                    "orientation": {
+                        "w": 0.3914761764938947,
+                        "xyz": [
+                            0.5893545871570905,
+                            -0.3267724018339233,
+                            0.6265998493730311
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7b834f7c3b56a80029f2b0096547f8a4a7bd7ed10c0ef0d74096db5ac42ffd1
+size 3777012

dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/toothbrush_031.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>1</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>