Add asset bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75

.gitattributes

@@ -5780,4 +5780,4 @@ dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/afforda
 dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/426a5b58400a5567a627dbbfb3210045/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/42ea8766722155019b180da3007e6904/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75/affordance/affordance_annot.json

@@ -0,0 +1,379 @@
+{
+    "affordances": [
+        {
+            "part_name": "razor handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and orient the razor",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle during shaving motions",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "stabilize the razor by clamping the handle for storage or handoff",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "primary grip",
+                "support the razor head",
+                "enable controlled shaving motion",
+                "provide ergonomic hold"
+            ],
+            "semantic_description": "Large curved ergonomic handle with a dark gray to black central front panel and lighter gray side body, smooth plastic surface, rounded shape, and a small circular button on the upper front.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9847192764282227,
+                    "position": [
+                        0.09843763880780898,
+                        -0.053058963268995285,
+                        0.013784578768536448
+                    ],
+                    "orientation": {
+                        "w": 0.6333531978642621,
+                        "xyz": [
+                            -0.03095430195129839,
+                            -0.7728185649861691,
+                            -0.02563247078490037
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9844451546669006,
+                    "position": [
+                        0.08816933803609572,
+                        -0.09391403570771217,
+                        0.016120216576382518
+                    ],
+                    "orientation": {
+                        "w": 0.2884690912484638,
+                        "xyz": [
+                            -0.7916961029532953,
+                            0.030571278243959443,
+                            0.5376506867003715
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.984255850315094,
+                    "position": [
+                        0.10177809171727858,
+                        -0.042077623307704926,
+                        0.014279391383752227
+                    ],
+                    "orientation": {
+                        "w": 0.6255172037338124,
+                        "xyz": [
+                            -0.00458652624727085,
+                            -0.778990132855834,
+                            -0.04337700454463709
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9842336773872375,
+                    "position": [
+                        -0.03278522766777314,
+                        -0.04847461357712746,
+                        0.0924310355912894
+                    ],
+                    "orientation": {
+                        "w": 0.1587309710306054,
+                        "xyz": [
+                            0.05911509932562343,
+                            0.9823530167123332,
+                            0.0793248663634661
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9839253425598145,
+                    "position": [
+                        0.0882800983672496,
+                        -0.0502411313354969,
+                        0.044837460620328784
+                    ],
+                    "orientation": {
+                        "w": 0.4924205768248439,
+                        "xyz": [
+                            -0.021650460352497205,
+                            -0.8684650715434085,
+                            -0.05311922999361542
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9837737083435059,
+                    "position": [
+                        0.0732499303703662,
+                        -0.050018470734357834,
+                        0.060764797730371356
+                    ],
+                    "orientation": {
+                        "w": 0.40743966454296277,
+                        "xyz": [
+                            -0.0417599342672834,
+                            -0.9110230324772989,
+                            -0.04781278012180747
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9837065935134888,
+                    "position": [
+                        0.09839480541995727,
+                        -0.056329067796468735,
+                        -0.003667607204988599
+                    ],
+                    "orientation": {
+                        "w": 0.6903412173769058,
+                        "xyz": [
+                            -0.021671384588744895,
+                            -0.717014312888599,
+                            -0.09407353396927856
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9836061000823975,
+                    "position": [
+                        0.10424687140039168,
+                        -0.03685067221522331,
+                        0.0022274594521149993
+                    ],
+                    "orientation": {
+                        "w": 0.676731363018912,
+                        "xyz": [
+                            0.0025335336197238826,
+                            -0.7353634505671002,
+                            -0.03562076759435719
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9835382103919983,
+                    "position": [
+                        0.09945778720430098,
+                        -0.04087722301483154,
+                        0.015847822418436408
+                    ],
+                    "orientation": {
+                        "w": 0.6214077826480032,
+                        "xyz": [
+                            -0.006630153224263688,
+                            -0.7825698397528236,
+                            -0.03732096785930054
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.982672929763794,
+                    "position": [
+                        0.05113684185198508,
+                        -0.052186835557222366,
+                        0.07934467191807926
+                    ],
+                    "orientation": {
+                        "w": 0.26731511154226956,
+                        "xyz": [
+                            -0.03881010460306009,
+                            -0.9601143497869374,
+                            -0.07222771112980056
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9825946688652039,
+                    "position": [
+                        0.10020727835944854,
+                        -0.05431665852665901,
+                        0.016211562557145953
+                    ],
+                    "orientation": {
+                        "w": 0.6140945845897947,
+                        "xyz": [
+                            -0.02988013739000154,
+                            -0.7857646090612012,
+                            -0.0675943615543446
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9823869466781616,
+                    "position": [
+                        0.1014149951224681,
+                        -0.04073771461844444,
+                        0.0035478463396430016
+                    ],
+                    "orientation": {
+                        "w": 0.6685060686563936,
+                        "xyz": [
+                            -0.004468525245871707,
+                            -0.7419815534908206,
+                            -0.050428590413063364
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9823023676872253,
+                    "position": [
+                        0.09001536094001494,
+                        -0.08548600599169731,
+                        0.007668130332604051
+                    ],
+                    "orientation": {
+                        "w": 0.2788520018771799,
+                        "xyz": [
+                            -0.7499418876884643,
+                            0.07218623351127129,
+                            0.5954980048923824
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "razor head frame",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the head frame to reorient the razor during packaging or assembly",
+                    "confidence": 0.45
+                },
+                {
+                    "scenario": "hold the head frame briefly to stabilize the razor while cleaning or accessing the cutters",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "mount the three rotary shaving units",
+                "present shaving surface",
+                "connect head to handle",
+                "guide contact against skin"
+            ],
+            "semantic_description": "Rounded triangular light gray head frame at the top of the razor, with smooth plastic surfaces surrounding the three circular shaving heads.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn the razor on or off",
+                "user control input",
+                "operate the shaver"
+            ],
+            "semantic_description": "Small circular dark button on the upper front of the handle, slightly recessed and set within the darker front panel.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutter ring",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "surround one rotary cutter",
+                "contact facial hair at the shaving head",
+                "define one shaving aperture"
+            ],
+            "semantic_description": "One circular outer ring of a rotary shaving head, silver to light gray with a fine perforated shaving surface, positioned on the front of the head cluster.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutter ring",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "surround one rotary cutter",
+                "contact facial hair at the shaving head",
+                "define one shaving aperture"
+            ],
+            "semantic_description": "One circular outer ring of a rotary shaving head, silver to light gray with a fine perforated shaving surface, positioned on the front of the head cluster.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutter ring",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "surround one rotary cutter",
+                "contact facial hair at the shaving head",
+                "define one shaving aperture"
+            ],
+            "semantic_description": "One circular outer ring of a rotary shaving head, silver to light gray with a fine perforated shaving surface, positioned on the front of the head cluster.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rotary cutter center",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the central area of one rotary shaving unit",
+                "rotate within the shaving head",
+                "contribute to hair cutting"
+            ],
+            "semantic_description": "Small circular central element inside one rotary shaving head, light gray to silver and recessed within the surrounding cutter ring.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rotary cutter center",
+            "mask_color": "DarkBlue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the central area of one rotary shaving unit",
+                "rotate within the shaving head",
+                "contribute to hair cutting"
+            ],
+            "semantic_description": "Small circular central element inside one rotary shaving head, light gray to silver and recessed within the surrounding cutter ring.",
+            "id": null
+        },
+        {
+            "part_name": "rotary cutter center",
+            "mask_color": "DarkPurple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the central area of one rotary shaving unit",
+                "rotate within the shaving head",
+                "contribute to hair cutting"
+            ],
+            "semantic_description": "Small circular central element inside one rotary shaving head, light gray to silver and recessed within the surrounding cutter ring.",
+            "id": null
+        },
+        {
+            "part_name": "neck collar",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect head to handle",
+                "support the head joint",
+                "help align the shaving head with the body"
+            ],
+            "semantic_description": "Small light gray collar-like section between the handle and head, visible as a narrow band around the neck joint.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Power button description color/position wrong; cutter center functions inaccurate; head frame graspability overstated."
+    }
+}

dataset/bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3784572