Add asset bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46

.gitattributes

@@ -5864,4 +5864,5 @@ dataset/bathroom_supplies/personal_care/e37ef37f069159b2a54f3c2a9426307d/afforda
 dataset/bathroom_supplies/personal_care/e4d50439c74a561b959ec395037e9277/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/e7176834630159a289a0a52dca914021/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/ea6f33658e5b58a4b5f8395fa00e2989/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/affordance/affordance_annot.json

@@ -0,0 +1,199 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main handle to pick up and reposition the toothbrush",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle while brushing or while a robot presents the brush head to a user",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "stabilize the toothbrush by clamping the handle during inspection or storage setup",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support the toothbrush structure",
+                "provide reach and leverage",
+                "house internal electronics"
+            ],
+            "semantic_description": "Large elongated white plastic handle with a smooth hard surface and mostly matte appearance, forming the thick rear body of the toothbrush with subtle printed markings and a tapered transition toward the neck.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "neck",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the narrow neck to orient the brush head precisely",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold near the neck for fine positioning during inspection",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "connect handle to brush head",
+                "provide reach to the mouth",
+                "position the brush head",
+                "transmit brushing motion"
+            ],
+            "semantic_description": "Slim white plastic neck with a smooth hard surface and slight taper, extending from the handle to the head as a narrow connector arm.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "brush head",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly pinch the brush head to orient the toothbrush during inspection",
+                    "confidence": 0.24
+                },
+                {
+                    "scenario": "grasp the head for transfer when bristle contact is acceptable",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "support bristles",
+                "contact tooth surfaces",
+                "guide brushing at the tip",
+                "define cleaning end"
+            ],
+            "semantic_description": "Small rounded white plastic brush head at the front tip, forming a compact smooth base that carries the bristle clusters and is small relative to the handle.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bristles",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scrub teeth",
+                "clean along gumline",
+                "apply toothpaste during brushing",
+                "provide soft contact surface"
+            ],
+            "semantic_description": "Tiny clustered bristles made of flexible synthetic fibers on the top of the brush head, visibly including green, white, and purple tufts with a soft textured appearance.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn the toothbrush on or off",
+                "control operation",
+                "indicate user interaction point"
+            ],
+            "semantic_description": "Small oval blue button set into the front of the handle, likely rubber or soft-touch plastic with a smooth slightly matte surface.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base cap",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base end to lift the toothbrush from a flat surface",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "hold the bottom while placing the toothbrush upright or repositioning it",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "finish the handle end",
+                "provide a flat resting end",
+                "protect the bottom end"
+            ],
+            "semantic_description": "Flat circular white end cap at the bottom of the handle with a smooth hard surface and slightly rounded edge.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.7224581837654114,
+                    "position": [
+                        0.06280721165239811,
+                        -0.10071285229059868,
+                        0.025868323682516348
+                    ],
+                    "orientation": {
+                        "w": 0.4395120221862176,
+                        "xyz": [
+                            -0.5486729730762478,
+                            -0.5843807955482173,
+                            -0.40532238621113126
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.841728925704956,
+                    "position": [
+                        0.10438277013599873,
+                        0.08530494410661049,
+                        -0.009592669033736456
+                    ],
+                    "orientation": {
+                        "w": 0.4005884537532414,
+                        "xyz": [
+                            0.5932563094418675,
+                            0.3293431707939004,
+                            -0.6157182130475123
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.8355573415756226,
+                    "position": [
+                        0.11105802841484547,
+                        0.03026400160160847,
+                        -0.07799164107564138
+                    ],
+                    "orientation": {
+                        "w": 0.6536516203883058,
+                        "xyz": [
+                            0.31256313124153845,
+                            -0.07495623907624771,
+                            -0.685146269329237
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "neck collar",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "transition between handle and neck",
+                "reinforce the joint",
+                "provide visual and structural separation"
+            ],
+            "semantic_description": "Small white collar-like transition piece with a smooth hard surface, located where the thick handle narrows into the slender neck.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Brush head color/identity mismatched; head includes green back pad, not white-only. Handle electronics claim unsupported."
+    }
+}

dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de41ead3d7ab39dc5315212b2c362ee33c19277be48b912e4aee7352d2d52c95
+size 3789840