Add asset bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a

.gitattributes

@@ -5846,3 +5846,4 @@ dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/afforda
 dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d222f2cf291e513e9e3bdbdeba17dca8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/affordance/affordance_annot.json

@@ -0,0 +1,226 @@
+{
+    "affordances": [
+        {
+            "part_name": "lever handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the folding lever to rotate it and actuate the nail clipper",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch the lever to lift and reposition the nail clipper",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the lever while opening or closing the clipper",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "press to close blades",
+                "provide actuation leverage",
+                "fold over the body for storage",
+                "assist opening and closing"
+            ],
+            "semantic_description": "Long narrow black metal lever with a smooth semi-gloss finish, rounded ends, and white printed branding on the top, mounted on the clipper's upper side.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9118481278419495,
+                    "position": [
+                        0.014162274019327015,
+                        -0.10254881449509412,
+                        -0.01773108178167604
+                    ],
+                    "orientation": {
+                        "w": 0.768848387016964,
+                        "xyz": [
+                            -0.6140757223817221,
+                            0.05527744795904377,
+                            0.1694920904051691
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9091317653656006,
+                    "position": [
+                        0.00613038515439257,
+                        -0.10988950647879392,
+                        -0.006756848277291283
+                    ],
+                    "orientation": {
+                        "w": 0.7258262216023816,
+                        "xyz": [
+                            -0.6589912901615825,
+                            0.13279315059614627,
+                            0.1458518243983681
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.7051087617874146,
+                    "position": [
+                        0.002600708685349673,
+                        0.09755072079133242,
+                        0.048664934845874086
+                    ],
+                    "orientation": {
+                        "w": 0.5305282609092163,
+                        "xyz": [
+                            0.8202318295331062,
+                            0.17888394048176237,
+                            -0.1173032226118844
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.704457700252533,
+                    "position": [
+                        0.01639825099846348,
+                        0.10796931467484683,
+                        0.0060876648931298405
+                    ],
+                    "orientation": {
+                        "w": 0.4774244393104323,
+                        "xyz": [
+                            0.45256274215247094,
+                            -0.568430026970786,
+                            0.4941054276189919
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.6294995546340942,
+                    "position": [
+                        -0.028633588983211666,
+                        0.0816544973058626,
+                        0.05700794971198775
+                    ],
+                    "orientation": {
+                        "w": 0.45290920529683887,
+                        "xyz": [
+                            0.85756210457285,
+                            -0.10606692062426659,
+                            0.2195684333123864
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.6159908771514893,
+                    "position": [
+                        -0.03213052457431331,
+                        0.09130962274502963,
+                        0.05947837224812247
+                    ],
+                    "orientation": {
+                        "w": 0.49010959423221023,
+                        "xyz": [
+                            0.8567994476546164,
+                            0.04068279099763805,
+                            0.1550232326360321
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "clipper body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body sides to pick up and orient the nail clipper",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the body firmly while the lever is rotated or pressed",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "stabilize the clipper body during precise trimming setup",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support all components",
+                "house the cutting jaws",
+                "provide main grip surface",
+                "align the blades"
+            ],
+            "semantic_description": "Elongated dark gray to black metal body with a matte to satin finish, slight taper, ribbed grip marks near one end, and a small lanyard hole at the rear.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.9068152904510498,
+                    "position": [
+                        0.005642381904181093,
+                        -0.1097711242036894,
+                        -0.027882261289050803
+                    ],
+                    "orientation": {
+                        "w": 0.19448140336620912,
+                        "xyz": [
+                            -0.13660852856255512,
+                            -0.6033921912701254,
+                            -0.7612049377026658
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.8774442076683044,
+                    "position": [
+                        0.011844738328363746,
+                        -0.10396031208802015,
+                        -0.012288792146136984
+                    ],
+                    "orientation": {
+                        "w": 0.4910556593084701,
+                        "xyz": [
+                            -0.4659376847760931,
+                            0.4755830628378517,
+                            0.561771451489292
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8689002394676208,
+                    "position": [
+                        0.0061744232079945505,
+                        -0.1107249251799658,
+                        -0.03208027416258119
+                    ],
+                    "orientation": {
+                        "w": 0.20183573405855681,
+                        "xyz": [
+                            -0.12464500563671903,
+                            -0.586624191397995,
+                            -0.7743371469156799
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.8603410124778748,
+                    "position": [
+                        0.006433307135012001,
+                        -0.11210589774418622,
+                        0.01503461311222054
+                    ],
+                    "orientation": {
+                        "w": 0.16553088661756193,
+                        "xyz": [
+                            -0.19325910135714133,
+                            0.7351275740540013,
+                            0.6283612775973011
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:332ee61ebf9b5f1c344bbba981f175c0337ab376ce4efdf4f8baf29077fa48d5
+size 3783804

dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/nail_clipper_007.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>NO: {"summary":"Lever and body are mostly separated, but tiny extra color fragments create nonfunctional over-segmentation.","merge_groups":[{"colors":["Red","Navy"],"target_part":"lever","reason":"Navy appears as small lever fragments near pivot/tip"},{"colors":["Cyan","Teal"],"target_part":"clipper body","reason":"Teal appears as small body-edge fragments and noise"}]}</PartSegChecker>