Add asset bathroom_supplies/personal_care/860920d168d958a195ae4005cc88c243

.gitattributes

@@ -8003,3 +8003,4 @@ dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/afforda
 dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/85d0eea50df35d10891b4b7971771896/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/860920d168d958a195ae4005cc88c243/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/860920d168d958a195ae4005cc88c243/affordance/affordance_annot.json

@@ -0,0 +1,301 @@
+{
+    "affordances": [
+        {
+            "part_name": "cutting lever",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lever to rotate it and actuate the nail clipper",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the lever to reposition or orient the clipper during use",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "press to clip nails",
+                "provide actuation leverage",
+                "cover the jaws when folded",
+                "indicate operating side"
+            ],
+            "semantic_description": "Long silver metal lever with a reflective smooth finish and rounded tapered shape, mounted on top near the pivot and slightly larger than the jaws, with small dark printed characters visible on some views.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.7758323550224304,
+                    "position": [
+                        -0.10101514449343085,
+                        0.0019212152110412717,
+                        -0.0029796243688906543
+                    ],
+                    "orientation": {
+                        "w": 0.3819667864961125,
+                        "xyz": [
+                            -0.5805424656927799,
+                            0.34944950204480474,
+                            -0.6284559372476475
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.7537016868591309,
+                    "position": [
+                        -0.09885006537660956,
+                        0.005409338511526585,
+                        -0.012013542982458603
+                    ],
+                    "orientation": {
+                        "w": 0.41999923993774957,
+                        "xyz": [
+                            -0.5350244077767813,
+                            0.366229476162258,
+                            -0.635000387657154
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.46710875630378723,
+                    "position": [
+                        0.09941153833642602,
+                        0.0060800123028457165,
+                        0.02024374757456826
+                    ],
+                    "orientation": {
+                        "w": 0.345441522311057,
+                        "xyz": [
+                            0.6716364837209412,
+                            -0.34256843040159,
+                            -0.5587678040927024
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.4810565412044525,
+                    "position": [
+                        0.09963420638814569,
+                        0.005546616856008768,
+                        0.01846537221717881
+                    ],
+                    "orientation": {
+                        "w": 0.16131634982115436,
+                        "xyz": [
+                            0.7505571299516697,
+                            -0.1172532914139125,
+                            -0.6299942028397529
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "body and jaws",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body to pick up and hold the nail clipper",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the body to stabilize it while the lever is rotated or pressed",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp near the jaws to orient the cutting end precisely",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support the whole tool",
+                "form the cutting jaws",
+                "guide nail insertion",
+                "provide main grasp surface"
+            ],
+            "semantic_description": "Main silver metal frame with a hard smooth reflective surface, elongated flat shape and narrow front jaws, occupying most of the tool and showing a small lanyard hole at the rear and textured grip patch on one side.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.8169187903404236,
+                    "position": [
+                        -0.1024045362137258,
+                        0.018983271438628435,
+                        0.0084881460716133
+                    ],
+                    "orientation": {
+                        "w": 0.49909711894718056,
+                        "xyz": [
+                            0.5992500439083336,
+                            0.4277001691870834,
+                            0.4570273689964577
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.7880241870880127,
+                    "position": [
+                        -0.10084363957867026,
+                        0.025813056621700525,
+                        0.005596558046818245
+                    ],
+                    "orientation": {
+                        "w": 0.5504949462454255,
+                        "xyz": [
+                            0.5791652691144324,
+                            0.44045524180174267,
+                            0.40929461904503656
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.7504563927650452,
+                    "position": [
+                        -0.10687688132748008,
+                        0.011902905534952879,
+                        -0.011043829428672325
+                    ],
+                    "orientation": {
+                        "w": 0.6245337906678526,
+                        "xyz": [
+                            0.4297836573430157,
+                            0.5094224230732577,
+                            0.40710237909532665
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.7487149834632874,
+                    "position": [
+                        -0.09825085988268256,
+                        -0.01914700446650386,
+                        0.001529905312054325
+                    ],
+                    "orientation": {
+                        "w": 0.46524374189502365,
+                        "xyz": [
+                            0.43461250704272053,
+                            0.5670975848914773,
+                            0.5225519673293851
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.724429726600647,
+                    "position": [
+                        -0.09943619510158896,
+                        -0.006299749948084354,
+                        0.01890974719572114
+                    ],
+                    "orientation": {
+                        "w": 0.3982479794391685,
+                        "xyz": [
+                            0.588859708988119,
+                            0.5064172392422652,
+                            0.4880413607485438
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.7207698822021484,
+                    "position": [
+                        -0.10426890989765525,
+                        -0.008918606210500002,
+                        -0.02715475070726825
+                    ],
+                    "orientation": {
+                        "w": 0.48815508264014973,
+                        "xyz": [
+                            -0.515550928637775,
+                            0.31644555658200335,
+                            -0.629105766141769
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.6784973740577698,
+                    "position": [
+                        0.08641411969438195,
+                        0.012117150705307722,
+                        -0.04545988846075488
+                    ],
+                    "orientation": {
+                        "w": 0.5159509761777912,
+                        "xyz": [
+                            0.453403874411446,
+                            -0.26374246097282883,
+                            -0.6772439967470145
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.6699949502944946,
+                    "position": [
+                        0.09204459795728326,
+                        -0.012892520520836115,
+                        -0.032641313555359375
+                    ],
+                    "orientation": {
+                        "w": 0.6139734612308329,
+                        "xyz": [
+                            0.29834657448667623,
+                            -0.506186004820076,
+                            -0.5270689128762829
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.6575910449028015,
+                    "position": [
+                        0.08773356536403298,
+                        -0.030072912108153105,
+                        -0.039525884720205795
+                    ],
+                    "orientation": {
+                        "w": 0.580191842446618,
+                        "xyz": [
+                            0.24387003479205774,
+                            -0.5010157823767645,
+                            -0.5940437844959897
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.6182291507720947,
+                    "position": [
+                        0.09715347597375512,
+                        0.0014149693306535482,
+                        -0.0013919317207182758
+                    ],
+                    "orientation": {
+                        "w": 0.395920538137381,
+                        "xyz": [
+                            -0.5875410933510452,
+                            -0.40238930987147714,
+                            0.5797630847217002
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lever to body",
+                "act as rotation axis",
+                "lock the lever in place",
+                "maintain alignment of moving parts"
+            ],
+            "semantic_description": "Small round silver metal pin and nearby tiny linkage features with a smooth reflective finish, located at the hinge end of the clipper and much smaller than the lever and body.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/860920d168d958a195ae4005cc88c243/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dda3e6ed1a49a30212adb06b3203ad4e6b5266e683b1afc47218ac49599bc75
+size 3782920

dataset/bathroom_supplies/personal_care/860920d168d958a195ae4005cc88c243/nail_clipper_027.urdf

@@ -57,6 +57,7 @@
                <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>