Add asset bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e

.gitattributes

@@ -5768,3 +5768,4 @@ dataset/bathroom_supplies/personal_care/2f449d16525858a18e8b84e8baaec1be/afforda
 dataset/bathroom_supplies/personal_care/30caa16d6dd759ddb11b6c6bd3351caa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/314085f1747858c5a11fdac02b83ad10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/317b3184b9ff5eec9ed95941ea7de7d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/affordance/affordance_annot.json

@@ -0,0 +1,241 @@
+{
+    "affordances": [
+        {
+            "part_name": "clipper body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the clipper body to pick up and reposition the nail clipper",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the clipper body steady while actuating the lever",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp near the jaws to orient the cutting end toward a nail",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support the cutting jaws",
+                "stabilize during clipping",
+                "house the clipper structure"
+            ],
+            "semantic_description": "Elongated blue-coated metal body with a smooth slightly matte finish, rounded rectangular shape, a lanyard hole at one end, and silver metal cutting jaws at the front.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.8660534024238586,
+                    "position": [
+                        -0.09140523732639849,
+                        0.02658912404149305,
+                        -0.05718569830060005
+                    ],
+                    "orientation": {
+                        "w": 0.6524448052748291,
+                        "xyz": [
+                            -0.19081520293143664,
+                            0.4474405779886077,
+                            -0.5811215566207687
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.8605886697769165,
+                    "position": [
+                        -0.0988946205470711,
+                        -0.016661777583067305,
+                        -0.05894012004137039
+                    ],
+                    "orientation": {
+                        "w": 0.5738306740276088,
+                        "xyz": [
+                            -0.4125841131336801,
+                            0.2366357714649474,
+                            -0.6667054963009555
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.8605237007141113,
+                    "position": [
+                        -0.10753324837423861,
+                        -0.019351498645846732,
+                        -0.03173734247684479
+                    ],
+                    "orientation": {
+                        "w": 0.5066767591388686,
+                        "xyz": [
+                            -0.5237035664804391,
+                            0.2811608568586583,
+                            -0.6244692216392298
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.8596973419189453,
+                    "position": [
+                        -0.10834600985981524,
+                        -0.013535515827243216,
+                        -0.032661691308021545
+                    ],
+                    "orientation": {
+                        "w": 0.4660064658403063,
+                        "xyz": [
+                            -0.5196104675395661,
+                            0.2804074669330704,
+                            -0.6589496098386579
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.859373152256012,
+                    "position": [
+                        -0.10401130677200854,
+                        0.020969210701878183,
+                        -0.037995193153619766
+                    ],
+                    "orientation": {
+                        "w": 0.5232898587044884,
+                        "xyz": [
+                            0.5145586810136551,
+                            0.24883149435927243,
+                            0.6320442824561074
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.8570674657821655,
+                    "position": [
+                        -0.10132226557470858,
+                        -0.015076506373588927,
+                        -0.03899216279387474
+                    ],
+                    "orientation": {
+                        "w": 0.48543950204036995,
+                        "xyz": [
+                            -0.503485426027419,
+                            0.25302608735828824,
+                            -0.6684524775576358
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.8516072034835815,
+                    "position": [
+                        -0.10618841112591326,
+                        0.004256674132193439,
+                        -0.03222024068236351
+                    ],
+                    "orientation": {
+                        "w": 0.675162640324095,
+                        "xyz": [
+                            0.35218825306840795,
+                            0.4877048763748745,
+                            0.426922471968141
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.8483622074127197,
+                    "position": [
+                        -0.10814777226187289,
+                        0.003288308435003273,
+                        -0.032720090821385384
+                    ],
+                    "orientation": {
+                        "w": 0.6844196317190085,
+                        "xyz": [
+                            0.3426945570244743,
+                            0.4971287119336184,
+                            0.4086480785157783
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.8376560807228088,
+                    "position": [
+                        0.06339970766566694,
+                        0.048395112666185014,
+                        -0.060332998633384705
+                    ],
+                    "orientation": {
+                        "w": 0.6231115484567319,
+                        "xyz": [
+                            0.46144859862719684,
+                            -0.07340311760496099,
+                            -0.6272233823214199
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.8333831429481506,
+                    "position": [
+                        -0.1062931811902672,
+                        -0.008472588335280307,
+                        -0.03265201114118099
+                    ],
+                    "orientation": {
+                        "w": 0.6710653934474698,
+                        "xyz": [
+                            -0.3713984999719434,
+                            0.46420660468479535,
+                            -0.44299731387763164
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.8316094875335693,
+                    "position": [
+                        -0.10847410024143755,
+                        0.003344231561641209,
+                        -0.039522528648376465
+                    ],
+                    "orientation": {
+                        "w": 0.6734490616820574,
+                        "xyz": [
+                            0.3554433920348924,
+                            0.4581565974439633,
+                            0.4584963343330634
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "actuation lever",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lever to flip it into operating position",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "pinch the lever to press and actuate the clipper for cutting",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the lever to control opening and closing during precise positioning",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "press to cut nails",
+                "provide actuation force",
+                "fold for storage",
+                "control jaw closure"
+            ],
+            "semantic_description": "Slim curved blue-coated metal lever with a smooth finish and embossed oval markings, mounted on top of the clipper and sized to swing and press over the body.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:821b20aa985ef2c0e075379b3ef3e5e6430ae5b04760b98eaeff9fbe712602cc
+size 3779328

dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/nail_clipper_014.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>YES</PartSegChecker>