Add asset bathroom_supplies/personal_care/dab74c710a055c5ca37c3b1c61f305b4

.gitattributes

@@ -5855,3 +5855,4 @@ dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/afforda
 dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/dab3262cdd93574f8c26a59712be1bd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/dab74c710a055c5ca37c3b1c61f305b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/dab74c710a055c5ca37c3b1c61f305b4/affordance/affordance_annot.json

@@ -0,0 +1,287 @@
+{
+    "affordances": [
+        {
+            "part_name": "clipper body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower body arms to pick up and hold the nail clipper",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the body to stabilize the tool while pressing the lever",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the body to orient the cutting end toward the nail",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main structural body",
+                "main grasp surface",
+                "support the cutting jaws",
+                "stabilize during cutting",
+                "provide hanging hole for storage"
+            ],
+            "semantic_description": "Elongated silver stainless-steel base body with a smooth reflective finish, slightly tapered shape, a rounded hanging hole at one end, and the cutting jaws at the opposite end.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.8033281564712524,
+                    "position": [
+                        -0.09861389081925154,
+                        0.0195096431998536,
+                        0.021216002757682872
+                    ],
+                    "orientation": {
+                        "w": 0.5129504455596134,
+                        "xyz": [
+                            0.5746371674922134,
+                            0.535387810540016,
+                            0.34645902854722643
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.7727597951889038,
+                    "position": [
+                        -0.10677750688046217,
+                        0.0010935309110209346,
+                        -0.016510034446582722
+                    ],
+                    "orientation": {
+                        "w": 0.4130179009576613,
+                        "xyz": [
+                            0.5565091874914719,
+                            0.3403752374354072,
+                            0.6354985723563028
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.6812198162078857,
+                    "position": [
+                        -0.10638693999499083,
+                        -0.0033085044706240296,
+                        0.017442626412048412
+                    ],
+                    "orientation": {
+                        "w": 0.45085339172951566,
+                        "xyz": [
+                            -0.5808414437623493,
+                            0.5056058164440429,
+                            -0.45135041237603285
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.5556425452232361,
+                    "position": [
+                        0.09747638273984194,
+                        0.0023858064087107778,
+                        0.01956370053721912
+                    ],
+                    "orientation": {
+                        "w": 0.6432126485320177,
+                        "xyz": [
+                            -0.0734479219576256,
+                            -0.760515285612385,
+                            0.04999391841461622
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.5162447094917297,
+                    "position": [
+                        0.10046698618680239,
+                        0.0035969981690868735,
+                        0.02390165580345638
+                    ],
+                    "orientation": {
+                        "w": 0.6235182009386335,
+                        "xyz": [
+                            -0.08618356806664708,
+                            -0.7739657156979096,
+                            0.06909787708586615
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.35204699635505676,
+                    "position": [
+                        0.10536035615950823,
+                        -0.0009294679621234536,
+                        0.015642616431250644
+                    ],
+                    "orientation": {
+                        "w": 0.6576542159778763,
+                        "xyz": [
+                            -0.10160446002632956,
+                            -0.7437871926786025,
+                            0.06283373231446625
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.7825119495391846,
+                    "position": [
+                        -0.1010694382712245,
+                        0.001737878774292767,
+                        -0.027417976875767636
+                    ],
+                    "orientation": {
+                        "w": 0.5912719353204312,
+                        "xyz": [
+                            0.4165150914809866,
+                            0.45273346450665464,
+                            0.5214835445024306
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.7586311101913452,
+                    "position": [
+                        -0.10800665151327848,
+                        0.0008825177792459726,
+                        -0.014415775892302918
+                    ],
+                    "orientation": {
+                        "w": 0.40418363442222555,
+                        "xyz": [
+                            0.5632942908642762,
+                            0.3529686722359271,
+                            0.6282899394109059
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "folding lever with nail file",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the long upper lever to rotate it and open the nail clipper",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "press down on the lever to actuate the cutting jaws",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the lever end to fold it back for storage",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "actuation lever",
+                "provide pressing leverage",
+                "open and close the clipper",
+                "transmit force to the jaws",
+                "integrated nail file surface"
+            ],
+            "semantic_description": "Long narrow silver metal lever above the body with a glossy reflective finish, rounded end, visible printed markings, and a fine textured file area near the free end.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.6241477727890015,
+                    "position": [
+                        -0.09121780376881361,
+                        -0.014712258358485997,
+                        -0.031336553861365246
+                    ],
+                    "orientation": {
+                        "w": 0.7201558504115286,
+                        "xyz": [
+                            -0.35312333794479783,
+                            0.4370958410948471,
+                            -0.4069725850894145
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.4163498282432556,
+                    "position": [
+                        0.08293802756816149,
+                        0.027284711482934654,
+                        0.05198656348420627
+                    ],
+                    "orientation": {
+                        "w": 0.4232737091900815,
+                        "xyz": [
+                            0.6976652621807167,
+                            -0.4903771480696112,
+                            -0.30599477398461755
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lever pivot pin",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect moving parts",
+                "act as rotation pin",
+                "retain the lever",
+                "align the hinge mechanism"
+            ],
+            "semantic_description": "Small round silver metal pin near the jaw end where the lever is attached, shiny and slightly raised.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutter jaws",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut nails",
+                "form the clipping edge",
+                "shear nail material",
+                "meet to apply cutting force"
+            ],
+            "semantic_description": "Tiny paired silver metal cutting edges at the front tip, reflective and curved inward to form the nail-cutting opening.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lever cam/post",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "transfer force from lever to jaws",
+                "guide lever motion",
+                "anchor the lever linkage",
+                "maintain hinge geometry"
+            ],
+            "semantic_description": "Very small silver metal cam or post near the jaw end, positioned below the pivot area and interacting with the lever linkage.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stamped grip/branding area",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brand marking area",
+                "light thumb placement cue",
+                "surface texturing/identification"
+            ],
+            "semantic_description": "Small oval stamped area on the upper visible surface near the middle-jaw region, appearing as a subtle matte or textured patch rather than a separate attached component.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue/green part identities are swapped; blue is lever, green is clipper body in the mask and RGB views."
+    }
+}

dataset/bathroom_supplies/personal_care/dab74c710a055c5ca37c3b1c61f305b4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d6d3f78551dcf972a6c47ebd89c03b2884f11413fd0a95693676fd3a1204498
+size 3782708