Add asset bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5

.gitattributes

@@ -5862,3 +5862,4 @@ dataset/bathroom_supplies/personal_care/dee5cb6ba6355d528864e8579f170e32/afforda
 dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/e37ef37f069159b2a54f3c2a9426307d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/e4d50439c74a561b959ec395037e9277/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/affordance/affordance_annot.json

@@ -0,0 +1,220 @@
+{
+    "affordances": [
+        {
+            "part_name": "lever",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the folding lever to rotate it and actuate the clipper jaws",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "pinch the lever to stabilize the nail clipper during pickup",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "press to actuate cutting",
+                "provide leverage",
+                "fold over the body",
+                "stabilize during use"
+            ],
+            "semantic_description": "Long narrow silver metal lever with a reflective smooth finish and a textured filing patch near the tip, mounted on top of the clipper body.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.7490178942680359,
+                    "position": [
+                        -0.01728616131367744,
+                        0.09914763155393302,
+                        0.020697863277746364
+                    ],
+                    "orientation": {
+                        "w": 0.331645051170353,
+                        "xyz": [
+                            0.29276791898403526,
+                            0.6990238375134016,
+                            -0.5618399952264065
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.6205115914344788,
+                    "position": [
+                        0.03658445889232098,
+                        0.0934471923392266,
+                        0.03917430105502717
+                    ],
+                    "orientation": {
+                        "w": 0.5204073837536672,
+                        "xyz": [
+                            0.799462156746485,
+                            0.11090730972045981,
+                            -0.2788117348955954
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.5368612408638,
+                    "position": [
+                        0.006057010610675206,
+                        0.08992687496356666,
+                        0.06138880315120332
+                    ],
+                    "orientation": {
+                        "w": 0.40097960248728426,
+                        "xyz": [
+                            0.6476428043184417,
+                            -0.5833625298935107,
+                            0.28189060842803443
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.5197473168373108,
+                    "position": [
+                        0.01332386547801434,
+                        0.08517903718166053,
+                        0.05830650913412683
+                    ],
+                    "orientation": {
+                        "w": 0.4473798027913674,
+                        "xyz": [
+                            0.6935309880365943,
+                            -0.5210938878409,
+                            0.21754824922806817
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "clipper body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the clipper body to pick up and hold the nail clipper",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body steady while the lever is pressed for cutting",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the body near the end to orient the clipper for placement",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "support the mechanism",
+                "house the cutting jaws",
+                "provide main grasp surface",
+                "align the blades"
+            ],
+            "semantic_description": "Main silver metal body with a hard smooth reflective finish, elongated slightly curved shape, and a small hanging hole at one end, forming most of the clipper's size and structure.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9438944458961487,
+                    "position": [
+                        0.01066182611612021,
+                        -0.09773440775461495,
+                        0.031584163632942364
+                    ],
+                    "orientation": {
+                        "w": 0.11284848908068161,
+                        "xyz": [
+                            -0.22994037578370694,
+                            0.7813631325898152,
+                            0.5690907635220288
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9313178658485413,
+                    "position": [
+                        0.003998755124484887,
+                        -0.10274434206075966,
+                        -0.030432235944317654
+                    ],
+                    "orientation": {
+                        "w": 0.7900022960241615,
+                        "xyz": [
+                            -0.5738103154052786,
+                            -0.14432611914752302,
+                            -0.1606488890184543
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9272372722625732,
+                    "position": [
+                        0.02288839371976792,
+                        -0.10042752441950142,
+                        -0.027259519818471745
+                    ],
+                    "orientation": {
+                        "w": 0.7524577426292371,
+                        "xyz": [
+                            -0.6116559559907425,
+                            0.04685563355501865,
+                            0.239768402135314
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.9157931208610535,
+                    "position": [
+                        0.01952688174424111,
+                        -0.10008143004961312,
+                        -0.01710209672455676
+                    ],
+                    "orientation": {
+                        "w": 0.6537158615027826,
+                        "xyz": [
+                            -0.4930474773618455,
+                            -0.42142748842981215,
+                            -0.3898187136125393
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.9154431819915771,
+                    "position": [
+                        0.012493699436163297,
+                        -0.10312286880798638,
+                        0.031218183663440868
+                    ],
+                    "orientation": {
+                        "w": 0.18473706958222305,
+                        "xyz": [
+                            -0.10865821378364991,
+                            -0.8153373588884629,
+                            -0.537857415027724
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lever to body",
+                "act as rotation pivot",
+                "retain the mechanism"
+            ],
+            "semantic_description": "Small round silver metal pin with a smooth reflective finish located near the jaw end, serving as the compact central fastener for the lever.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:269711441923280b082820d40b4311afa5b507c4b346e8db042254f110ba8899
+size 3781904

dataset/bathroom_supplies/personal_care/e574a599721b59f58019978a6fe8a5a5/nail_clipper_010.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>