Add asset bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148

.gitattributes

@@ -5738,4 +5738,4 @@ dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/afforda
 dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/10d3b3d1834151d6b85ae4ac2bfc0c91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/affordance/affordance_annot.json

@@ -0,0 +1,205 @@
+{
+    "affordances": [
+        {
+            "part_name": "nail file lever",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lever to rotate it into operating position",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch the lever to fold it back for storage",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the lever lightly to reposition the clipper",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "press to actuate cutting jaws",
+                "rotate to open or close the clipper",
+                "provide finger contact during operation",
+                "file nails with the textured upper surface"
+            ],
+            "semantic_description": "Slim silver metal lever on top of the clipper with a reflective finish and visible fine file ridges along much of its length, hinged near the cutting end.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_11": {
+                    "confidence": 0.6887978911399841,
+                    "position": [
+                        -0.03082906242525496,
+                        0.0800293788779527,
+                        0.06087409635074437
+                    ],
+                    "orientation": {
+                        "w": 0.469838891077662,
+                        "xyz": [
+                            0.8658574220240695,
+                            -0.022669986419505128,
+                            0.17037726630182937
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.5724590420722961,
+                    "position": [
+                        -0.005119479001223226,
+                        0.09335499559529126,
+                        0.034526310162618756
+                    ],
+                    "orientation": {
+                        "w": 0.6132292816675422,
+                        "xyz": [
+                            0.7736420727506819,
+                            0.13001954154290585,
+                            -0.09231852572756584
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "nail file tip",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "file nail edges",
+                "smooth rough nail corners",
+                "provide a fine grooming surface"
+            ],
+            "semantic_description": "Narrow pointed silver metal section extending beyond the lever, with a flat elongated shape and fine textured filing surface, located at the free end of the top lever.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "clipper body",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body to pick up and reposition the nail clipper",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the body to stabilize the clipper while the lever is pressed",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the body to place or store the clipper",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "support all other parts",
+                "provide main grasp surface",
+                "stabilize during clipping",
+                "form the springy cutting body"
+            ],
+            "semantic_description": "Elongated silver metal lower frame with a reflective smooth hard surface and slightly curved profile, forming the main body of the nail clipper.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_26": {
+                    "confidence": 0.9073797464370728,
+                    "position": [
+                        0.00032255585938401055,
+                        -0.1026861637365073,
+                        -0.036575597478076816
+                    ],
+                    "orientation": {
+                        "w": 0.8160389726878478,
+                        "xyz": [
+                            -0.5724387567723744,
+                            0.054494121057876654,
+                            0.05852055681202823
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.8992720246315002,
+                    "position": [
+                        0.004691281150371651,
+                        -0.09720216388814151,
+                        -0.031288095517084
+                    ],
+                    "orientation": {
+                        "w": 0.8028370011426461,
+                        "xyz": [
+                            -0.5846874216631182,
+                            -0.07382701353116028,
+                            -0.09023824365693016
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.8912175297737122,
+                    "position": [
+                        0.009349384605229716,
+                        -0.10352080757729709,
+                        -0.0323344215285033
+                    ],
+                    "orientation": {
+                        "w": 0.11644821352010674,
+                        "xyz": [
+                            -0.114259205683441,
+                            0.5780231508602539,
+                            0.7995460490516786
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.8631120324134827,
+                    "position": [
+                        0.01139463230902038,
+                        -0.10075890715233982,
+                        0.016972410725429654
+                    ],
+                    "orientation": {
+                        "w": 0.13262285412320235,
+                        "xyz": [
+                            -0.18891897807366678,
+                            0.7483650363697198,
+                            0.621828409311737
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "act as hinge axle",
+                "connect lever to body",
+                "allow lever rotation",
+                "retain the assembly"
+            ],
+            "semantic_description": "Small round silver metal pivot feature at the hinged end of the clipper, with a reflective finish and circular top visible near the lever joint.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "actuation stud",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "engage the lever slot",
+                "transmit pressing force to the jaws",
+                "guide lever motion during operation"
+            ],
+            "semantic_description": "Tiny protruding silver metal stud near the cutting end, visible as a small raised post that the lever hooks onto when flipped for use.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a24ccfb6357c74873ed993e87e33e71d99007c107be3234145b0ddfda72c476
+size 3775092

dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/nail_clipper_009.urdf

@@ -52,6 +52,7 @@
                <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>