Add asset bathroom_supplies/personal_care/130bfb6245af5722a0c4ffbbf12389ac

.gitattributes

@@ -5739,3 +5739,4 @@ dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/afforda
 dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/130bfb6245af5722a0c4ffbbf12389ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/130bfb6245af5722a0c4ffbbf12389ac/affordance/affordance_annot.json

@@ -0,0 +1,166 @@
+{
+    "affordances": [
+        {
+            "part_name": "body of nail clipper",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the clipper body from the sides to pick up and reposition it",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the body steady while pressing the lever to trim nails",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "grasp the closed body to store or transport the clipper",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support cutting mechanism",
+                "house the cutting jaws",
+                "provide leverage structure",
+                "stabilize during clipping"
+            ],
+            "semantic_description": "Compact silver metal nail clipper body with a reflective smooth hard finish, formed by two tapered arms joined at one end, with small cutting jaws at the front, a pivoted lever on top, and a round hanging hole at the rear.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9123614430427551,
+                    "position": [
+                        -0.09230088349431753,
+                        -0.04890441653333255,
+                        -0.01157037285156548
+                    ],
+                    "orientation": {
+                        "w": 0.126123718315815,
+                        "xyz": [
+                            -0.6325996061433343,
+                            -0.21929578578716657,
+                            -0.7319972024000364
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9100748896598816,
+                    "position": [
+                        -0.1042694067582488,
+                        -0.007323081521462882,
+                        0.002065579406917095
+                    ],
+                    "orientation": {
+                        "w": 0.693842461152007,
+                        "xyz": [
+                            -0.08343751757368671,
+                            0.7144976356898567,
+                            -0.033375864891735725
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9097529053688049,
+                    "position": [
+                        -0.1010466730222106,
+                        -0.0020108215139771346,
+                        -0.006139017408713698
+                    ],
+                    "orientation": {
+                        "w": 0.7225906760119456,
+                        "xyz": [
+                            -0.03339121560717965,
+                            0.6902732190625274,
+                            -0.016450674938438766
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9070050716400146,
+                    "position": [
+                        -0.09800202306360006,
+                        -0.008961062329035485,
+                        0.03589714481495321
+                    ],
+                    "orientation": {
+                        "w": 0.4685169948483496,
+                        "xyz": [
+                            -0.5161923849122885,
+                            0.6427891185698403,
+                            -0.31758368400319825
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9067097902297974,
+                    "position": [
+                        -0.08790153171867132,
+                        -0.048841824205737794,
+                        0.012841537361964583
+                    ],
+                    "orientation": {
+                        "w": 0.650405731307304,
+                        "xyz": [
+                            -0.2631489650717464,
+                            0.7052202801136204,
+                            0.10192822661435522
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9058701992034912,
+                    "position": [
+                        -0.10052476730197668,
+                        -0.026560257570963586,
+                        -0.00115516921505332
+                    ],
+                    "orientation": {
+                        "w": 0.7004112691271965,
+                        "xyz": [
+                            -0.08721337026511333,
+                            0.7026937056375429,
+                            0.08966291420653051
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9025290012359619,
+                    "position": [
+                        -0.10326155181974173,
+                        0.0005732313402404543,
+                        -0.024007620522752404
+                    ],
+                    "orientation": {
+                        "w": 0.7879499666824522,
+                        "xyz": [
+                            0.016255492685726566,
+                            0.6153396190006065,
+                            0.015091794156272344
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9018538594245911,
+                    "position": [
+                        -0.100862099789083,
+                        -0.006256624972593272,
+                        0.034207397839054465
+                    ],
+                    "orientation": {
+                        "w": 0.47327244474622343,
+                        "xyz": [
+                            -0.5054780951323513,
+                            0.6457803767044894,
+                            -0.3216718723306571
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/130bfb6245af5722a0c4ffbbf12389ac/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:730c92459e44ad17f976e88c5c14ddbd29386bd4c28855292afc03641984be4d
+size 3777012

dataset/bathroom_supplies/personal_care/130bfb6245af5722a0c4ffbbf12389ac/nail_clipper_031.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>