Add asset bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f

.gitattributes

@@ -5849,4 +5849,4 @@ dataset/bathroom_supplies/personal_care/d222f2cf291e513e9e3bdbdeba17dca8/afforda
 dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d307015ca5a55972887ef068ae3a0fca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/d3a06b8f8c005860a9646c88628b7402/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/affordance/affordance_annot.json

@@ -0,0 +1,193 @@
+{
+    "affordances": [
+        {
+            "part_name": "main body including handle and blades",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp around the handle/body to pick up and reposition the pruning snips",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the handle/body to stabilize and orient the cutting blades toward stems or small branches",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the handle end to control tool orientation during manipulation",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support cutting mechanism",
+                "provide structural body",
+                "position the cutting blades",
+                "enable tool handling"
+            ],
+            "semantic_description": "Compact pruning snips with a light gray to silver body and dark gray to black textured grip areas along the handle. One end has pointed opposing cutting blades, and the other end has a rounded handle with a circular lanyard hole. The surfaces appear mostly matte to lightly reflective, with visible ridges and recessed details on the handle.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9238197207450867,
+                    "position": [
+                        0.09382954938337207,
+                        -0.051100175362080336,
+                        0.007169248543505091
+                    ],
+                    "orientation": {
+                        "w": 0.6601376021250945,
+                        "xyz": [
+                            -0.2503383331019744,
+                            -0.6965728164815682,
+                            -0.12780992363345983
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9165014624595642,
+                    "position": [
+                        0.09628791315481067,
+                        -0.04804709507152438,
+                        0.009556094191793818
+                    ],
+                    "orientation": {
+                        "w": 0.09526323307193005,
+                        "xyz": [
+                            -0.7046992970656306,
+                            0.25546040868904685,
+                            0.655029615156685
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9141971468925476,
+                    "position": [
+                        0.09747321857139468,
+                        -0.049565214198082685,
+                        0.006347180817101616
+                    ],
+                    "orientation": {
+                        "w": 0.13147285441101095,
+                        "xyz": [
+                            -0.7002393402100657,
+                            0.22926377142893717,
+                            0.6631876643042847
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9055776000022888,
+                    "position": [
+                        0.10881261480972171,
+                        0.00019034705474041402,
+                        -0.0004915902609354816
+                    ],
+                    "orientation": {
+                        "w": 0.05525534769697496,
+                        "xyz": [
+                            0.7112227339202959,
+                            -0.0611021573983076,
+                            -0.6981229087109941
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9051274657249451,
+                    "position": [
+                        0.09865152789279819,
+                        -0.04824073938652873,
+                        0.01503559202683391
+                    ],
+                    "orientation": {
+                        "w": 0.09487828032780767,
+                        "xyz": [
+                            -0.7100032205665247,
+                            0.27346015609519236,
+                            0.6419603428059977
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9030178785324097,
+                    "position": [
+                        0.10055941296741366,
+                        -0.05079084960743785,
+                        0.0074711623674375005
+                    ],
+                    "orientation": {
+                        "w": 0.6600501121563602,
+                        "xyz": [
+                            -0.2512175177427638,
+                            -0.6983035182680191,
+                            -0.11660104886340714
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8979930877685547,
+                    "position": [
+                        0.09914347482845187,
+                        -0.049724854063242674,
+                        -0.0023202572410809807
+                    ],
+                    "orientation": {
+                        "w": 0.17438109258213266,
+                        "xyz": [
+                            -0.6855518259731554,
+                            0.18130672333155673,
+                            0.6831821137365266
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8879388570785522,
+                    "position": [
+                        0.09320027334615588,
+                        -0.0175769436173141,
+                        0.047149933881883044
+                    ],
+                    "orientation": {
+                        "w": 0.4523513998691325,
+                        "xyz": [
+                            -0.5481917917663288,
+                            -0.6654064300820406,
+                            0.2282504179228
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "circular fasteners and small inset details",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secure assembled parts",
+                "mark attachment points",
+                "provide small structural inserts"
+            ],
+            "semantic_description": "Small yellow-masked details including the central circular pivot fastener and additional small oval or elongated inset features on the handle/body. In the RGB image these appear as small light metallic or light-colored details with smooth finishes.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutting blade gap",
+            "mask_color": "Black",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "receive material to be cut",
+                "define cutting slot",
+                "indicate cutting orientation"
+            ],
+            "semantic_description": "Narrow dark slit between the two pointed blades at the tip, appearing as a recessed opening where the cutting action occurs.",
+            "id": null
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Main green part merges handle and blades; grasp scenarios on blades are unsafe and part naming/function are too broad."
+    }
+}

dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0c9dfe2622caa3a051789057617e70f44074a95665caa9a274ec1f4920e1560
+size 3780868

dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/nail_clipper_016.urdf

@@ -58,6 +58,7 @@
                <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>NO: {"summary":"All meaningful body and cutting jaws are merged; yellow is only small scattered details, and one listed color is unused.","merge_groups":[]}</PartSegChecker>