Add asset bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6

.gitattributes

@@ -5825,3 +5825,4 @@ dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/afforda
 dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ba77340e584e5b18816dbb06f36545f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/affordance/affordance_annot.json

@@ -0,0 +1,286 @@
+{
+    "affordances": [
+        {
+            "part_name": "clipper body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the nail clipper",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body while pressing the lever to perform clipping",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "stabilize the clipper body while rotating or folding the lever",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "support the cutting jaws",
+                "provide the main grasp surface",
+                "house the pivot connection",
+                "stabilize during clipping"
+            ],
+            "semantic_description": "Elongated dark gray metal body with a smooth slightly reflective finish, flat tapered shape, small size, and curved cutting end at the front with a hanging hole at the rear.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.8300927877426147,
+                    "position": [
+                        0.0071078066393965855,
+                        -0.09979822515742853,
+                        -0.001551241395645775
+                    ],
+                    "orientation": {
+                        "w": 0.7050565634803866,
+                        "xyz": [
+                            -0.6744805714209098,
+                            -0.17074779914911786,
+                            -0.1371728477311869
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.818428635597229,
+                    "position": [
+                        6.608521835005376e-05,
+                        -0.1026260110666044,
+                        -0.017978654490434565
+                    ],
+                    "orientation": {
+                        "w": 0.7454900241127064,
+                        "xyz": [
+                            -0.6387299207143077,
+                            -0.12626134901155117,
+                            -0.14257203119305775
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.8157945871353149,
+                    "position": [
+                        0.007690760554396547,
+                        -0.10065460979240015,
+                        -0.027132964940392412
+                    ],
+                    "orientation": {
+                        "w": 0.7887708975071455,
+                        "xyz": [
+                            -0.6067189850185493,
+                            -0.08290943552611785,
+                            -0.053465596083596044
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8005236983299255,
+                    "position": [
+                        -0.015227315700030886,
+                        -0.08550265460507944,
+                        0.039952837614691816
+                    ],
+                    "orientation": {
+                        "w": 0.5130189506511199,
+                        "xyz": [
+                            -0.8358475505899178,
+                            -0.1151533657124506,
+                            -0.15782943581839676
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.7999895215034485,
+                    "position": [
+                        0.00740760077314917,
+                        -0.10376592009561136,
+                        0.006361413965350948
+                    ],
+                    "orientation": {
+                        "w": 0.6823957616107258,
+                        "xyz": [
+                            -0.7104504783635011,
+                            -0.14295717124053797,
+                            -0.09570469956952667
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.7996553182601929,
+                    "position": [
+                        -0.00479185649601277,
+                        -0.09213073580758646,
+                        0.041789469061768614
+                    ],
+                    "orientation": {
+                        "w": 0.07645560788930944,
+                        "xyz": [
+                            -0.1210001167690029,
+                            -0.8443523099808837,
+                            -0.5163164614789166
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "press lever",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lever to flip or rotate it into operating position",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "pinch the lever to press the clipper closed during cutting",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the lever to carry or orient the small clipper",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "press to close the jaws",
+                "provide operating leverage",
+                "flip to lock or unlock the clipper",
+                "transfer force to the cutting blades"
+            ],
+            "semantic_description": "Long dark gray metal lever with a smooth slightly reflective surface, flat narrow shape, and top-mounted position over the body near the pivot pin.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.7114754915237427,
+                    "position": [
+                        0.015700403848313726,
+                        -0.0991879481007345,
+                        0.011362197561538778
+                    ],
+                    "orientation": {
+                        "w": 0.6621591143435551,
+                        "xyz": [
+                            -0.7261629141901255,
+                            0.09514706959189967,
+                            0.15868133001313398
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.6236063838005066,
+                    "position": [
+                        -0.047412181957042776,
+                        0.08887480170233175,
+                        0.03281339326349553
+                    ],
+                    "orientation": {
+                        "w": 0.5537498369803228,
+                        "xyz": [
+                            0.7933344608468723,
+                            0.040662164077929,
+                            0.24965604276597878
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.6062547564506531,
+                    "position": [
+                        -0.008464080034173094,
+                        0.11085155577166006,
+                        0.018977700485265814
+                    ],
+                    "orientation": {
+                        "w": 0.5095909559138346,
+                        "xyz": [
+                            0.6068271675051696,
+                            -0.45041473047178704,
+                            0.4113446450392958
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.5810652375221252,
+                    "position": [
+                        -0.005358761860406958,
+                        0.11160192609531805,
+                        0.022859732373035513
+                    ],
+                    "orientation": {
+                        "w": 0.520209810222276,
+                        "xyz": [
+                            0.6241762123990272,
+                            -0.4406134041771411,
+                            0.3816354769713363
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.46924760937690735,
+                    "position": [
+                        -0.00048336344480048865,
+                        0.10091391176683828,
+                        0.017623669220483862
+                    ],
+                    "orientation": {
+                        "w": 0.6570939556597356,
+                        "xyz": [
+                            0.7392484089867409,
+                            -0.11011483003664047,
+                            0.09805124910991743
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "act as hinge axle",
+                "connect lever to body",
+                "allow lever rotation",
+                "retain assembly"
+            ],
+            "semantic_description": "Tiny round dark metal pin head with a smooth reflective finish, located near the clipper hinge and fastening the lever to the body.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lever cam hook",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "engage the pivot pin",
+                "convert lever motion into downward force",
+                "guide lever alignment",
+                "help lock the lever in place"
+            ],
+            "semantic_description": "Small dark gray metal hooked tab with a smooth hard surface, tucked under the lever near the pivot and shaped to catch around the pin.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side rivet or dimple",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "serve as a small body-side fastening or stamped feature",
+                "help retain or locate part of the clipper assembly",
+                "provide a visible side reference feature near the hinge end"
+            ],
+            "semantic_description": "Small round dark metal circular feature on the side face of the clipper body, smooth and slightly raised or recessed, located near the hinge end.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue part is misidentified; mask shows a side pin/rivet head, not an ambiguous dimple feature."
+    }
+}

dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1be6e57d95e478932d927383ab6a917c3227abab232f63db0071e9ab4be4f9b
+size 3783824

dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/nail_clipper_004.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>