Add asset bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c

.gitattributes

@@ -7987,3 +7987,4 @@ dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/afforda
 dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/788c6784576053d2a06c54ed3402318c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c/affordance/affordance_annot.json

@@ -0,0 +1,150 @@
+{
+    "affordances": [
+        {
+            "part_name": "body of nail clipper",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the clipper body from the sides to pick up and reposition it",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the clipper body while actuating the lever for clipping",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the body near the jaws to stabilize the tool for precise nail alignment",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support clipping mechanism",
+                "stabilize during cutting",
+                "house and align the cutting jaws",
+                "provide leverage base"
+            ],
+            "semantic_description": "Compact silver metal nail clipper body with a smooth reflective finish, formed by two slim tapered arms joined at the cutting end. The body appears slightly curved and elongated, positioned beneath the separate lever in the closed views.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.7841196656227112,
+                    "position": [
+                        -0.10288523440249264,
+                        0.00020075811880815309,
+                        -0.0008083604188868776
+                    ],
+                    "orientation": {
+                        "w": 0.712073649029985,
+                        "xyz": [
+                            0.04325103586696875,
+                            0.6980724471476482,
+                            0.06144367165827188
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.7808992266654968,
+                    "position": [
+                        -0.09844074700959027,
+                        -0.022012294795786147,
+                        0.010758650765637867
+                    ],
+                    "orientation": {
+                        "w": 0.656792098123024,
+                        "xyz": [
+                            -0.0625825675407404,
+                            0.7458693132560666,
+                            0.09157799749988287
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.7748177647590637,
+                    "position": [
+                        -0.09925774787552655,
+                        0.02161866653295874,
+                        -0.00869886549480725
+                    ],
+                    "orientation": {
+                        "w": 0.7349784326209405,
+                        "xyz": [
+                            0.07195255493931887,
+                            0.6699146704324852,
+                            -0.07644519448012978
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.7748042941093445,
+                    "position": [
+                        -0.10181967471726239,
+                        -0.0018967154337588,
+                        0.005021349803428166
+                    ],
+                    "orientation": {
+                        "w": 0.6852200903998111,
+                        "xyz": [
+                            0.09946089805867277,
+                            0.7100935215455045,
+                            0.12785987693151257
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.7679123878479004,
+                    "position": [
+                        -0.09472178970463574,
+                        0.04334100376399874,
+                        0.005555215568165295
+                    ],
+                    "orientation": {
+                        "w": 0.12401835040489415,
+                        "xyz": [
+                            0.6973992599739002,
+                            -0.203154708108776,
+                            0.6760043531841665
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.7660438418388367,
+                    "position": [
+                        -0.08497518603689969,
+                        -0.05241709161964536,
+                        0.017150222600321285
+                    ],
+                    "orientation": {
+                        "w": 0.6256724386326198,
+                        "xyz": [
+                            -0.2601138505374268,
+                            0.72172510065555,
+                            0.14137773296329129
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.7590669393539429,
+                    "position": [
+                        -0.06850081239826977,
+                        0.03956870402726054,
+                        0.06303307162306737
+                    ],
+                    "orientation": {
+                        "w": 0.1433341511291138,
+                        "xyz": [
+                            -0.5699294780336671,
+                            0.7074885202150345,
+                            -0.3925502578680966
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc13508934a291023f31fd9a852fd5bb746d4cd92a44d3bc5c6923aeb0a3e1c8
+size 3777008

dataset/bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c/nail_clipper_039.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>