Add asset bathroom_supplies/personal_care/4a041813f401503fb5a44b246affc3c9

.gitattributes

@@ -5785,4 +5785,5 @@ dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/afforda
 dataset/bathroom_supplies/personal_care/4545553416145d2a8d03ee4079d303db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4574f34489e157dca00e278cb5cf5076/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/49f8089a0d9e52899b66aaecaf4d995f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/47c670995f935657a879fde452a35586/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/4a041813f401503fb5a44b246affc3c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/4a041813f401503fb5a44b246affc3c9/affordance/affordance_annot.json

@@ -0,0 +1,278 @@
+{
+    "affordances": [
+        {
+            "part_name": "lower body arm",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower body arm to pick up and hold the nail clipper",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the lower body arm to stabilize the clipper while pressing the lever",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the lower body arm to position the cutting end at a nail",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support the clipper structure",
+                "support the cutting head",
+                "stabilize during clipping"
+            ],
+            "semantic_description": "Long silver metal lower arm with a smooth reflective finish, slightly tapered shape, and rounded end containing a lanyard hole; it forms the main lower half of the nail clipper.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9179337024688721,
+                    "position": [
+                        -0.10442990181036294,
+                        0.00011712986452039331,
+                        0.006426920648664236
+                    ],
+                    "orientation": {
+                        "w": 0.4616807269090667,
+                        "xyz": [
+                            0.5410688594456071,
+                            0.49841113997607667,
+                            0.49566292103272463
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9077801704406738,
+                    "position": [
+                        -0.10548798856325448,
+                        0.008131486625643447,
+                        0.012263548094779253
+                    ],
+                    "orientation": {
+                        "w": 0.4999002063085717,
+                        "xyz": [
+                            0.5382498260236703,
+                            0.5316772708508501,
+                            0.42155211798629044
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9064656496047974,
+                    "position": [
+                        -0.1051866349298507,
+                        -0.0045328673149924725,
+                        0.005901119206100702
+                    ],
+                    "orientation": {
+                        "w": 0.47729115060881083,
+                        "xyz": [
+                            -0.534303905679468,
+                            0.5013798911041761,
+                            -0.48510895551674593
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.8912544250488281,
+                    "position": [
+                        -0.10732881841249764,
+                        0.012156411336036399,
+                        0.008749940898269415
+                    ],
+                    "orientation": {
+                        "w": 0.5267135584863728,
+                        "xyz": [
+                            0.5279253783887088,
+                            0.5207018795893124,
+                            0.41561661991782556
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8651019334793091,
+                    "position": [
+                        -0.10870082792825997,
+                        0.004829076380701736,
+                        0.010225757490843534
+                    ],
+                    "orientation": {
+                        "w": 0.46261926045926305,
+                        "xyz": [
+                            -0.5042959378268441,
+                            0.5514491772556886,
+                            -0.4770459431202531
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.7997925877571106,
+                    "position": [
+                        0.10298560443334281,
+                        -0.0032952876936178654,
+                        -0.006731661036610603
+                    ],
+                    "orientation": {
+                        "w": 0.6028917859040954,
+                        "xyz": [
+                            -0.42994500329520197,
+                            -0.5346289562468484,
+                            0.4072353960220856
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.7862091660499573,
+                    "position": [
+                        0.09575599315576255,
+                        0.028682119474979118,
+                        -0.036878513637930155
+                    ],
+                    "orientation": {
+                        "w": 0.6530744228843436,
+                        "xyz": [
+                            -0.20214260870555595,
+                            -0.5368882088336283,
+                            0.4943513074074063
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper lever",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper lever to flip and rotate it into operating position",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "press the upper lever downward to actuate the cutter",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the upper lever while manipulating the small clipper",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide pressing leverage",
+                "actuate the clipper",
+                "transmit force to the cutting head",
+                "serve as manipulation handle"
+            ],
+            "semantic_description": "Slim silver metal lever mounted above the body, with a smooth reflective surface and a long narrow shape ending in a rounded tip.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.4537678360939026,
+                    "position": [
+                        0.07188396039418876,
+                        0.022855059505673125,
+                        0.06433202093467116
+                    ],
+                    "orientation": {
+                        "w": 0.34861220207814136,
+                        "xyz": [
+                            0.7763874569125451,
+                            -0.4242646886616578,
+                            -0.3093404649668816
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lanyard hole area",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide hanging point",
+                "allow keyring attachment",
+                "surround the lanyard hole"
+            ],
+            "semantic_description": "Small silver metal area at the rounded end of the lower body arm around the lanyard hole, visible as the end region used for hanging or attachment.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect moving parts",
+                "act as rotation axis",
+                "retain lever alignment"
+            ],
+            "semantic_description": "Tiny rounded silver metal pin near the clipper head, joining the upper lever to the body.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lever textured pad",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide thumb traction",
+                "improve finger contact during pressing",
+                "mark the press area on the lever"
+            ],
+            "semantic_description": "Small elongated rectangular textured patch near the free end of the upper lever, slightly duller than the surrounding polished silver metal.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutting jaws",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut nails",
+                "shear nail tips",
+                "form the clipping edge"
+            ],
+            "semantic_description": "Short opposed silver metal cutting edges at the front of the clipper, compact and wedge-like with curved sharpened jaws.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "head block",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cutting head",
+                "retain alignment near the front assembly",
+                "provide structure at the front of the body"
+            ],
+            "semantic_description": "Small silver metal structural section at the clipper head just behind and around the cutting jaw area, appearing as a compact front assembly section.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lever hook nub",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "engage the lever slot",
+                "lock the lever in place",
+                "guide lever rotation during folding"
+            ],
+            "semantic_description": "Tiny protruding silver metal feature near the hinge region on the body, used as the engagement point for the lever mechanism.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color/part identities are mismatched; teal head block is absent and orange hook nub actually marks head block area."
+    }
+}

dataset/bathroom_supplies/personal_care/4a041813f401503fb5a44b246affc3c9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3788848