Add asset bathroom_supplies/personal_care/167cd5b883c055699434cfe62a8ff8a8

.gitattributes

@@ -5748,3 +5748,4 @@ dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/afforda
 dataset/bathroom_supplies/personal_care/18c80a211e455a84ba7e3555a7f62c2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/1949cea20dd356b6a41973e8187fe7ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/167cd5b883c055699434cfe62a8ff8a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/167cd5b883c055699434cfe62a8ff8a8/affordance/affordance_annot.json

@@ -0,0 +1,282 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main handle to pick up and hold the toothbrush",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle while positioning the brush head for cleaning",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the handle to place the toothbrush into storage or a charger",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support brushing motions",
+                "provide reach and leverage",
+                "house the toothbrush body"
+            ],
+            "semantic_description": "Large cylindrical handle with a smooth plastic surface, mostly white to very light silver in appearance, occupying the rear lower portion of the toothbrush and showing a small brand marking on one side.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.9874938130378723,
+                    "position": [
+                        -0.014822273515164852,
+                        0.08633929491043091,
+                        0.03992903058679076
+                    ],
+                    "orientation": {
+                        "w": 0.4424483599160839,
+                        "xyz": [
+                            0.5744138240368855,
+                            0.6175712223221694,
+                            -0.3047851586320943
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9870209097862244,
+                    "position": [
+                        -0.02736664190888405,
+                        0.0007518782513216138,
+                        0.09302727331669303
+                    ],
+                    "orientation": {
+                        "w": 0.12442960962388552,
+                        "xyz": [
+                            -0.699997337793503,
+                            0.6891222285082772,
+                            -0.14011264577703753
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9867168664932251,
+                    "position": [
+                        -0.05724036879837513,
+                        -0.03136087581515312,
+                        0.07680219610483618
+                    ],
+                    "orientation": {
+                        "w": 0.3087211695013609,
+                        "xyz": [
+                            -0.6576331921859344,
+                            0.6811639196165435,
+                            -0.09069475535926322
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.9864783883094788,
+                    "position": [
+                        -0.003467968665063381,
+                        -0.007440838497132063,
+                        0.09640068759472342
+                    ],
+                    "orientation": {
+                        "w": 0.051018803851010604,
+                        "xyz": [
+                            -0.7107652924121091,
+                            0.7015700832387652,
+                            0.003032995267566095
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.9857161641120911,
+                    "position": [
+                        -0.02077257540076971,
+                        0.0019106112886220217,
+                        -0.09375911007373361
+                    ],
+                    "orientation": {
+                        "w": 0.700351839186513,
+                        "xyz": [
+                            -0.1088515070816468,
+                            0.13910140679861482,
+                            -0.6915991970648669
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.9856957793235779,
+                    "position": [
+                        -0.0038271918892860413,
+                        0.038241032510995865,
+                        0.08818309952766867
+                    ],
+                    "orientation": {
+                        "w": 0.15850262069850432,
+                        "xyz": [
+                            0.6832715694331526,
+                            0.6980742007169263,
+                            -0.14390723376358724
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9855479598045349,
+                    "position": [
+                        -0.01041042513679713,
+                        0.03959699720144272,
+                        0.08881701727659674
+                    ],
+                    "orientation": {
+                        "w": 0.11669483933874032,
+                        "xyz": [
+                            0.6919949447493337,
+                            -0.6911544515987919,
+                            0.1727160529546859
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9852661490440369,
+                    "position": [
+                        -0.00888937630224973,
+                        0.042627930641174316,
+                        0.0880222265914199
+                    ],
+                    "orientation": {
+                        "w": 0.14298043952149692,
+                        "xyz": [
+                            0.6996061780841337,
+                            -0.6753511266866983,
+                            0.1844143302017459
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "neck and brush head base",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly pinch the neck or head base to reorient the toothbrush during manipulation",
+                    "confidence": 0.28
+                },
+                {
+                    "scenario": "briefly hold the neck near the head while placing the toothbrush into a tight holder",
+                    "confidence": 0.22
+                }
+            ],
+            "functional_labels": [
+                "support bristles",
+                "reach into the mouth",
+                "position the cleaning end",
+                "connect handle to brush head"
+            ],
+            "semantic_description": "Slim neck leading to a small rounded-oval brush head base at the front, with a smooth plastic surface and much smaller size than the handle; it appears white to very light silver like the rest of the body.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.976482093334198,
+                    "position": [
+                        -0.022136197425425053,
+                        -0.0015878769336268306,
+                        0.09736505349428626
+                    ],
+                    "orientation": {
+                        "w": 0.014303748823175895,
+                        "xyz": [
+                            0.7173192554440007,
+                            0.6955701442380099,
+                            0.03782410585304295
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.5763626098632812,
+                    "position": [
+                        -0.1603080052882433,
+                        -0.006046568509191275,
+                        -0.011733034501958173
+                    ],
+                    "orientation": {
+                        "w": 0.5462420323612126,
+                        "xyz": [
+                            -0.4789880152168963,
+                            0.47634678763434557,
+                            -0.4952614070073594
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.564746081829071,
+                    "position": [
+                        -0.16072981245815754,
+                        -0.007115479093044996,
+                        -0.0007838421079213731
+                    ],
+                    "orientation": {
+                        "w": 0.5059375290204136,
+                        "xyz": [
+                            -0.5250859721815815,
+                            0.47175159895470664,
+                            -0.4957442560741562
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bristle tuft",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "clean teeth surfaces",
+                "scrub with fine contact points",
+                "apply toothpaste",
+                "reach small crevices"
+            ],
+            "semantic_description": "Dense cluster of short white bristles on the head, likely nylon, with a fine textured surface and compact rounded-rectangular footprint.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "neck collar transition",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join handle and neck",
+                "provide structural transition",
+                "reinforce the tapered connection",
+                "visually separate handle from neck"
+            ],
+            "semantic_description": "Small tapered collar section between the thick handle and slender neck, with a smooth plastic finish and ring-like contour near the upper handle; it appears white to very light silver.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "brand marking",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "identify brand",
+                "provide visual orientation cue",
+                "decorate the handle"
+            ],
+            "semantic_description": "Small brand text on the handle surface, visible as a narrow vertical marking rather than a separate physical component, on the otherwise white to very light silver body.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue part includes full head, and orange mask is embossed logo, not printed brand marking; descriptions/functions mismatch visible parts."
+    }
+}

dataset/bathroom_supplies/personal_care/167cd5b883c055699434cfe62a8ff8a8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a2c889ff599ac7a0b74eb952f03efffe3c3b41347c60257b4ef843f5d71fdb3
+size 111829524

dataset/bathroom_supplies/personal_care/167cd5b883c055699434cfe62a8ff8a8/toothbrush_019.urdf

@@ -58,6 +58,7 @@
                <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>