Add asset bathroom_supplies/personal_care/3f01cf0a6bd0580bb59429b9fb64e4dc

.gitattributes

@@ -5778,3 +5778,4 @@ dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/afforda
 dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3f01cf0a6bd0580bb59429b9fb64e4dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/3f01cf0a6bd0580bb59429b9fb64e4dc/affordance/affordance_annot.json

@@ -0,0 +1,255 @@
+{
+    "affordances": [
+        {
+            "part_name": "fold-out nail file",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the nail file outward from the body to unfold it for grooming",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the extended file near its middle or base to reposition or fold it back into the body",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "lightly grasp the file to orient the clipper while accessing the cleaning tip",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "file fingernail edges",
+                "fold out from the body for grooming use",
+                "provide a pointed cleaning/picking tip"
+            ],
+            "semantic_description": "Long narrow silver metal file that folds out from the nail clipper body, with a smooth reflective surface, an elongated textured abrasive patch near the distal end, and a pointed tapered tip.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.5997787117958069,
+                    "position": [
+                        0.10299032717011869,
+                        0.01848789196810685,
+                        0.0216573131037876
+                    ],
+                    "orientation": {
+                        "w": 0.6316142694151585,
+                        "xyz": [
+                            0.14982158811042634,
+                            -0.7600414183600203,
+                            -0.030886061330537104
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "clipper body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body to pick up the nail clipper",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to stabilize the clipper during nail trimming or filing",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp near the rear lanyard hole to orient or reposition the clipper",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support the cutting head",
+                "house the opposed clipper arms",
+                "provide structural body for clipping"
+            ],
+            "semantic_description": "Silver metal clipper body made of two flat stamped arms with a reflective smooth hard surface, slightly tapered shape, and a round lanyard hole at the rear; it forms most of the clipper's length beneath the fold-out tool.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.8943617343902588,
+                    "position": [
+                        -0.1006384885404259,
+                        0.014503894228255376,
+                        -0.014716191333718598
+                    ],
+                    "orientation": {
+                        "w": 0.6462725206438692,
+                        "xyz": [
+                            0.4198865362509643,
+                            0.510395292755706,
+                            0.3814757801861139
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.8931427001953125,
+                    "position": [
+                        -0.10172803909517825,
+                        0.0051268482056912035,
+                        0.005229988950304687
+                    ],
+                    "orientation": {
+                        "w": 0.5658482530457845,
+                        "xyz": [
+                            0.44311588280453434,
+                            0.5837897551916059,
+                            0.3776951027809549
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.886861264705658,
+                    "position": [
+                        -0.10133428336121142,
+                        0.016773079376434907,
+                        -0.02096820727456361
+                    ],
+                    "orientation": {
+                        "w": 0.4803490738883594,
+                        "xyz": [
+                            0.5638386011903587,
+                            0.30826653716799657,
+                            0.5969275844562277
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.8766010999679565,
+                    "position": [
+                        -0.09592459560371935,
+                        0.009526435140287504,
+                        0.008389346185140312
+                    ],
+                    "orientation": {
+                        "w": 0.5873386822232707,
+                        "xyz": [
+                            0.42495725711699195,
+                            0.606543791681827,
+                            0.32641879657897616
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.8715147972106934,
+                    "position": [
+                        -0.10266634286381304,
+                        -0.0008481584663968533,
+                        0.02326581149827689
+                    ],
+                    "orientation": {
+                        "w": 0.4432277251487312,
+                        "xyz": [
+                            0.5288178378588363,
+                            0.5965543125852929,
+                            0.40990709942336395
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.8706091046333313,
+                    "position": [
+                        -0.10550283850170672,
+                        0.01711971577606164,
+                        0.0055152991553768516
+                    ],
+                    "orientation": {
+                        "w": 0.49070806326547384,
+                        "xyz": [
+                            -0.4312669664250865,
+                            0.5916069235467195,
+                            -0.47245703331449745
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.8426874279975891,
+                    "position": [
+                        -0.10386474640108645,
+                        0.0075489751470740885,
+                        -0.03388740599621087
+                    ],
+                    "orientation": {
+                        "w": 0.654574114867626,
+                        "xyz": [
+                            0.3830239802096838,
+                            0.45742373758686183,
+                            0.46431549944155587
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.8267925381660461,
+                    "position": [
+                        -0.10946983308531344,
+                        0.011617229174589738,
+                        0.00882991577964276
+                    ],
+                    "orientation": {
+                        "w": 0.5022306499294692,
+                        "xyz": [
+                            0.5446074503934164,
+                            0.5114475439088936,
+                            0.4354176260522373
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8246737122535706,
+                    "position": [
+                        -0.11031605512835085,
+                        0.00827453177771531,
+                        0.009870950947515666
+                    ],
+                    "orientation": {
+                        "w": 0.47913948282616114,
+                        "xyz": [
+                            0.5616307168969489,
+                            0.49697711142902545,
+                            0.45608118197373626
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.7595947980880737,
+                    "position": [
+                        -0.10639477730728686,
+                        -0.01345986980595626,
+                        -0.029265469987876713
+                    ],
+                    "orientation": {
+                        "w": 0.38693848879873904,
+                        "xyz": [
+                            0.48851121070052955,
+                            0.358779506904242,
+                            0.6949191811510171
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rivet and hole details",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide pivot or fastening points",
+                "form attachment or lanyard hole openings",
+                "retain the folding tool and body hardware"
+            ],
+            "semantic_description": "Small dark metallic details and openings, including the hinge rivet area and circular holes, appearing as tiny recessed or through-hole features relative to the rest of the silver clipper.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/3f01cf0a6bd0580bb59429b9fb64e4dc/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca376881cc5e469a526e11102878d4dea29736b852e66abb1bcb3d6b8926b9da
+size 3781180

dataset/bathroom_supplies/personal_care/3f01cf0a6bd0580bb59429b9fb64e4dc/nail_clipper_035.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>NO: {"summary":"Small Green areas are just holes/noise, but main lever and body are reasonably separated.","merge_groups":[{"colors":["Green","Purple"],"target_part":"clipper body/lever assembly","reason":"Green marks tiny holes and specks, not functional parts"}]}</PartSegChecker>