Add asset bathroom_supplies/personal_care/05faa10a90065fe084575a58e4d5e84a

.gitattributes

@@ -5723,4 +5723,4 @@ dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/afforda
 dataset/bathroom_supplies/personal_care/047e49a463e35751bee8e3abb584f882/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/05e217d2d0f85cf7b13a2139d7c387ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/05ee3cb0fb2b5d14b567a60e21022ef5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/05faa10a90065fe084575a58e4d5e84a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/05faa10a90065fe084575a58e4d5e84a/affordance/affordance_annot.json

@@ -0,0 +1,301 @@
+{
+    "affordances": [
+        {
+            "part_name": "clipper body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the nail clipper",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the body steady while the lever is actuated",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the body to orient the cutting end toward a nail",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support cutting mechanism",
+                "house the opposing jaw",
+                "stabilize during clipping"
+            ],
+            "semantic_description": "Elongated silver metal body with a smooth reflective finish, medium-sized and slightly tapered, forming the main lower structure of the nail clipper with an oval hanging hole at one end.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9436081051826477,
+                    "position": [
+                        0.029828478316630935,
+                        -0.10002845991402864,
+                        0.022305359080178278
+                    ],
+                    "orientation": {
+                        "w": 0.24120282393760978,
+                        "xyz": [
+                            -0.04854633122634656,
+                            -0.7924760818954456,
+                            -0.5580735713798202
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.9414780735969543,
+                    "position": [
+                        0.007405561595078325,
+                        -0.10929855424910784,
+                        -0.01916646124448107
+                    ],
+                    "orientation": {
+                        "w": 0.7632245482592896,
+                        "xyz": [
+                            -0.6309287416058068,
+                            -0.102781497242041,
+                            -0.09409131614979617
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9117612242698669,
+                    "position": [
+                        0.00355513018075726,
+                        -0.10538957733660936,
+                        -0.0293694353255205
+                    ],
+                    "orientation": {
+                        "w": 0.19640060248396146,
+                        "xyz": [
+                            -0.13357323459589812,
+                            0.5791073019234129,
+                            0.7798844319529088
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9086601734161377,
+                    "position": [
+                        0.00874779626246891,
+                        -0.11344267893582582,
+                        -0.033768697694199545
+                    ],
+                    "orientation": {
+                        "w": 0.7920676768445679,
+                        "xyz": [
+                            -0.5950132979948227,
+                            -0.10050472429053126,
+                            -0.09212367178232737
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.8811255693435669,
+                    "position": [
+                        -0.0034236607934872154,
+                        -0.10822999943047762,
+                        -0.025915701926010115
+                    ],
+                    "orientation": {
+                        "w": 0.20759876965281854,
+                        "xyz": [
+                            -0.09582225190079766,
+                            0.6076578756433108,
+                            0.7605739629043021
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lever",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or press the lever to actuate the clipper",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the lever to flip it into operating position",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the lever lightly while repositioning the tool",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "press to cut",
+                "transmit force to jaws",
+                "flip for operation",
+                "provide thumb press surface"
+            ],
+            "semantic_description": "Curved silver metal lever with a shiny smooth finish, mounted on top of the body and shaped to provide a contoured pressing surface.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9240033626556396,
+                    "position": [
+                        0.022161864410009002,
+                        -0.10900424886494875,
+                        0.003062369715166824
+                    ],
+                    "orientation": {
+                        "w": 0.6711646753455828,
+                        "xyz": [
+                            -0.7051377034709079,
+                            0.09778876180653762,
+                            0.2067756169773814
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.4873245656490326,
+                    "position": [
+                        -0.044464678769145394,
+                        -0.10925991553813219,
+                        -0.008587990939872725
+                    ],
+                    "orientation": {
+                        "w": 0.7281342060461986,
+                        "xyz": [
+                            -0.6396269180551425,
+                            0.196087912914228,
+                            -0.14915600589213276
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lever grip inlay",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "improve finger traction",
+                "provide thumb contact area",
+                "reduce slipping while pressing"
+            ],
+            "semantic_description": "Small elongated brown inlay on the top lever, with a more matte appearance than the surrounding metal and positioned where the thumb presses.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "nail file",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "file nail edges",
+                "smooth rough nail surfaces",
+                "provide grooming surface"
+            ],
+            "semantic_description": "Leaf-shaped silver metal file mounted at the end of the lever, with a textured filing region and a slightly pointed rounded outline.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "file abrasive surface",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide abrasive contact surface",
+                "smooth nail edges",
+                "increase filing effectiveness"
+            ],
+            "semantic_description": "Small light silver textured filing area inside the leaf-shaped nail file, with a rough matte surface distinct from the smoother surrounding metal.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lever to body",
+                "serve as rotation axis",
+                "retain moving parts"
+            ],
+            "semantic_description": "Tiny round metallic pin near the hinge area, silver and slightly reflective, joining the lever and body.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hanging loop end",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch the loop end to pick up the clipper from a flat surface",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "grasp the loop end to orient the clipper before use",
+                    "confidence": 0.59
+                }
+            ],
+            "functional_labels": [
+                "provide lanyard hole",
+                "enable hanging storage",
+                "offer distal handling point"
+            ],
+            "semantic_description": "Rounded silver metal end section with an oval hole, smooth and reflective, located at the rear of the clipper body.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_54": {
+                    "confidence": 0.4632872939109802,
+                    "position": [
+                        0.01771082981940708,
+                        0.1170996455475688,
+                        -0.04007181809868143
+                    ],
+                    "orientation": {
+                        "w": 0.8246650307070813,
+                        "xyz": [
+                            0.5609878518597987,
+                            -0.07110637936804542,
+                            0.01281015252776136
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "small side rivet",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten body component",
+                "support assembly"
+            ],
+            "semantic_description": "Very small silver circular rivet-like feature on the side of the body near one end, with a smooth slightly reflective metal finish.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "body textured panel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "surface texture detail",
+                "decorative detail",
+                "provide mild finger traction"
+            ],
+            "semantic_description": "Small rectangular light silver textured panel on the side of the body near the middle, appearing more matte than the surrounding polished metal.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts are misidentified or over-segmented; side rivet and textured panel do not match visible parts consistently."
+    }
+}

dataset/bathroom_supplies/personal_care/05faa10a90065fe084575a58e4d5e84a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba0793015d6892320305a498811e9e0abb61a675667b7ea49c9d0956d763786
+size 3793596

dataset/bathroom_supplies/personal_care/05faa10a90065fe084575a58e4d5e84a/nail_clipper_008.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>