Add asset bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8

.gitattributes

@@ -5734,3 +5734,4 @@ dataset/bathroom_supplies/personal_care/0ab77ddb60f655e1b864970c74941f66/afforda
 dataset/bathroom_supplies/personal_care/0b26dafeb4fa515d8b4bee10cc0047c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/affordance/affordance_annot.json

@@ -0,0 +1,290 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and move the toothbrush",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to stabilize the toothbrush during brushing manipulation",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the lower handle to place the toothbrush into storage or onto a charger",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support brushing manipulation",
+                "house internal motor and battery",
+                "provide overall structure"
+            ],
+            "semantic_description": "Long dark gray to black plastic handle with a mostly matte smooth hard surface, rounded rectangular body with a thicker cylindrical base, medium-large size, located at the rear, with a visible oval button and small indicator light/marks.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9889693260192871,
+                    "position": [
+                        -0.03735434729605913,
+                        0.09064573411160382,
+                        0.020159704086836427
+                    ],
+                    "orientation": {
+                        "w": 0.5435292882468878,
+                        "xyz": [
+                            0.4547283913643484,
+                            0.6204729699053905,
+                            -0.3358739295060093
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9887439012527466,
+                    "position": [
+                        -0.03175943251699209,
+                        0.08889746282511624,
+                        0.018924692121800035
+                    ],
+                    "orientation": {
+                        "w": 0.5528843573635142,
+                        "xyz": [
+                            0.45265631284887675,
+                            0.6285525144480337,
+                            -0.3071528713879269
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.988495945930481,
+                    "position": [
+                        -0.037319851107895374,
+                        0.08751254890376003,
+                        -0.0037236116477288306
+                    ],
+                    "orientation": {
+                        "w": 0.37509495052165537,
+                        "xyz": [
+                            0.586850588401944,
+                            -0.3538365439932981,
+                            0.6242674628076721
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9882551431655884,
+                    "position": [
+                        0.02181182149797678,
+                        0.09405281756335171,
+                        0.02125537901883945
+                    ],
+                    "orientation": {
+                        "w": 0.44465660184357675,
+                        "xyz": [
+                            0.5601811140524022,
+                            0.5453248177945091,
+                            -0.43714810876099847
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9882206916809082,
+                    "position": [
+                        0.014721333049237728,
+                        0.08986479405575665,
+                        0.033053872582968324
+                    ],
+                    "orientation": {
+                        "w": 0.42790714325131596,
+                        "xyz": [
+                            0.5777289845798113,
+                            0.5840812228987686,
+                            -0.3767941376772695
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9880518913269043,
+                    "position": [
+                        -0.0029422701336443424,
+                        -0.009845108834269922,
+                        0.09732227906351909
+                    ],
+                    "orientation": {
+                        "w": 0.044282808912075325,
+                        "xyz": [
+                            -0.7069301230926979,
+                            0.705523871899219,
+                            0.022910697923336852
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9879705309867859,
+                    "position": [
+                        0.01454904954880476,
+                        0.08940147225075634,
+                        0.035995134559925646
+                    ],
+                    "orientation": {
+                        "w": 0.4118188327425267,
+                        "xyz": [
+                            0.5793519865314709,
+                            0.5924729908734888,
+                            -0.3791204027562274
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9878557324409485,
+                    "position": [
+                        -0.024033477529883385,
+                        0.0934296584528056,
+                        0.0028773948433808982
+                    ],
+                    "orientation": {
+                        "w": 0.5697590328793655,
+                        "xyz": [
+                            0.3999285795029054,
+                            0.5966277114653682,
+                            -0.3993333816008323
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9878312945365906,
+                    "position": [
+                        -0.015321468003094196,
+                        0.09531951312237652,
+                        0.01034133363282308
+                    ],
+                    "orientation": {
+                        "w": 0.46661170480298986,
+                        "xyz": [
+                            0.5249791002543468,
+                            -0.5382805516556662,
+                            0.4657515528114279
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9877687096595764,
+                    "position": [
+                        -0.052908225916326046,
+                        0.08896612737589749,
+                        0.01176996569847688
+                    ],
+                    "orientation": {
+                        "w": 0.35125438543619497,
+                        "xyz": [
+                            0.6103066153897287,
+                            -0.43140057406023924,
+                            0.5639501189146698
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9876587986946106,
+                    "position": [
+                        -0.049389383755624294,
+                        -0.0335687623519334,
+                        0.07981125399237499
+                    ],
+                    "orientation": {
+                        "w": 0.04845576782553914,
+                        "xyz": [
+                            0.6935477926747275,
+                            0.6451461695055417,
+                            0.31690679672859234
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9874424338340759,
+                    "position": [
+                        -0.00179983489215374,
+                        0.09767628077679547,
+                        0.006705779058393091
+                    ],
+                    "orientation": {
+                        "w": 0.46927321294573043,
+                        "xyz": [
+                            0.5117112273671515,
+                            -0.5265394530984667,
+                            0.49060215626183523
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9873336553573608,
+                    "position": [
+                        -0.02797874715179205,
+                        -0.01333557545876829,
+                        0.08664941921597347
+                    ],
+                    "orientation": {
+                        "w": 0.1298921176213239,
+                        "xyz": [
+                            0.6925822057045014,
+                            0.6698651559432572,
+                            0.2339628153669976
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "neck",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect handle to brush head",
+                "transmit motion to head",
+                "position bristles away from handle",
+                "provide reach into the mouth"
+            ],
+            "semantic_description": "Slim dark gray narrow neck section of smooth rigid plastic, tapering forward from the handle to the small brush head and forming the connector shaft.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "transition collar",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join handle to neck",
+                "provide structural transition",
+                "finish the junction between parts",
+                "indicate part boundary"
+            ],
+            "semantic_description": "Small light gray to white smooth collar at the junction between the dark handle and neck, visible as a short curved ring-like band around the base of the neck.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bristle cluster",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scrub teeth surfaces",
+                "clean along gumline",
+                "apply toothpaste during brushing",
+                "provide contact texture for cleaning"
+            ],
+            "semantic_description": "Compact small bristle tuft on the brush head tip, appearing dark gray to black, likely nylon, with a fine slightly rough texture and short densely packed profile.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Neck and bristle descriptions use wrong colors; bristles are not dark gray/black and neck is not dark gray."
+    }
+}

dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d537984e885562641f151ba737541da60e4a5f1585ce8219969522457d2b2b21
+size 3780844

dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/toothbrush_017.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>