Add asset bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7

.gitattributes

@@ -5835,4 +5835,4 @@ dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/afforda
 dataset/bathroom_supplies/personal_care/c1c73fc7295b542bbbeb80454f169727/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/c5b38f52872456928831c85388015b1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/affordance/affordance_annot.json

@@ -0,0 +1,228 @@
+{
+    "affordances": [
+        {
+            "part_name": "actuation lever",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lever to pick up and reposition the nail clipper",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the lever while rotating or flipping it into operating position",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "press the lever downward to actuate the jaws during clipping",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "main press surface",
+                "actuate cutting mechanism",
+                "provide finger contact area",
+                "fold over clipper body for storage"
+            ],
+            "semantic_description": "Elongated silver metal lever with a smooth reflective finish, rounded end, small lanyard hole at one end, and engraved dark markings plus a textured pad near the center; mounted on top of the clipper and visible across views.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.7436871528625488,
+                    "position": [
+                        -0.10255933739244938,
+                        -0.0038589049072470516,
+                        0.003061886989598861
+                    ],
+                    "orientation": {
+                        "w": 0.38859747889235746,
+                        "xyz": [
+                            0.5829179662165836,
+                            0.432444249127534,
+                            0.5676183713173398
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.7403461933135986,
+                    "position": [
+                        -0.10024953819811344,
+                        0.001766175526427105,
+                        0.010297514611011138
+                    ],
+                    "orientation": {
+                        "w": 0.5305302764829907,
+                        "xyz": [
+                            -0.44561818075534065,
+                            0.6033163813369923,
+                            -0.39493215458559344
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.738715648651123,
+                    "position": [
+                        -0.10157887078821659,
+                        0.0015611481212545186,
+                        0.0023874364524090197
+                    ],
+                    "orientation": {
+                        "w": 0.5649701381264753,
+                        "xyz": [
+                            -0.40686093807212503,
+                            0.5987512138668647,
+                            -0.39594179368864113
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.7374981045722961,
+                    "position": [
+                        -0.09457478858530521,
+                        0.00599141968996264,
+                        0.04007111780447303
+                    ],
+                    "orientation": {
+                        "w": 0.3707053159243659,
+                        "xyz": [
+                            0.654241501932683,
+                            0.5291377109127913,
+                            0.39313980819074373
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.7326249480247498,
+                    "position": [
+                        -0.08485584892332554,
+                        -0.009597934869816527,
+                        0.05132314480943023
+                    ],
+                    "orientation": {
+                        "w": 0.3983883959102225,
+                        "xyz": [
+                            -0.5735618063340453,
+                            0.6663978599599709,
+                            -0.2612038142134943
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.7307255268096924,
+                    "position": [
+                        -0.09877862967550755,
+                        0.0006299747910816222,
+                        0.013129772731190315
+                    ],
+                    "orientation": {
+                        "w": 0.6569891857655173,
+                        "xyz": [
+                            -0.1106360138258599,
+                            0.7390828362734935,
+                            -0.09940544933661792
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.7294074892997742,
+                    "position": [
+                        -0.10269383527338505,
+                        0.011674513953039423,
+                        -0.006198132297868142
+                    ],
+                    "orientation": {
+                        "w": 0.4999248635202217,
+                        "xyz": [
+                            0.5540245135054872,
+                            0.4230199053210757,
+                            0.5139903977424523
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.7266340851783752,
+                    "position": [
+                        0.014396412298083305,
+                        -0.008386921224882826,
+                        0.09782804466885864
+                    ],
+                    "orientation": {
+                        "w": 0.08102865286659953,
+                        "xyz": [
+                            -0.01650670480759473,
+                            -0.9960958954209773,
+                            -0.030900699611822128
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.7243703603744507,
+                    "position": [
+                        -0.10278675146400928,
+                        0.0020854771428275853,
+                        0.011483562291687122
+                    ],
+                    "orientation": {
+                        "w": 0.6693831434761339,
+                        "xyz": [
+                            -0.03482273644877322,
+                            0.7412408387792803,
+                            -0.035715587381666206
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.7203226089477539,
+                    "position": [
+                        -0.0860526654869318,
+                        -0.0038807202072348446,
+                        0.05439668439430534
+                    ],
+                    "orientation": {
+                        "w": 0.37530274043961975,
+                        "xyz": [
+                            -0.577981199852248,
+                            0.6703447584897778,
+                            -0.27517901519038207
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.7191717624664307,
+                    "position": [
+                        -0.10383124090731144,
+                        -0.0038471017905976623,
+                        0.010588350818579784
+                    ],
+                    "orientation": {
+                        "w": 0.6710992465420065,
+                        "xyz": [
+                            -0.036324245163282656,
+                            0.7404705556260611,
+                            -0.0031155665458495025
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "act as hinge axle",
+                "connect lever to clipper body",
+                "enable lever rotation",
+                "retain clipper assembly"
+            ],
+            "semantic_description": "Small silver metal pivot pin near the jaw end, slightly raised and reflective, forming the compact joint for the lever mechanism.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green mask covers clipper body and lever together, so part_name/functions are wrong; annotation misses main body/jaws identity."
+    }
+}

dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f68cebbba10be59987c218f79721841302726751b8ce7862e7be163b4ce52577
+size 3776868

dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/nail_clipper_026.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":"Most functional parts are merged; only pivot is separated, while lever and clipper arms/blades are not distinguishable by merging.","merge_groups":[]}</PartSegChecker>