Add asset bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483

.gitattributes

@@ -7956,3 +7956,4 @@ dataset/tools/repair_tools/fde554ef987854e89cb10c834974d6cf/affordance/mesh_part
 dataset/tools/repair_tools/ffa71c9ed2f6563a9adfc86c49fce2fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/ffbf1d9a6a7b5195b54582ab536feab0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/5525e06d369551afbf7770c55d097d45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/affordance/affordance_annot.json

@@ -0,0 +1,161 @@
+{
+    "affordances": [
+        {
+            "part_name": "clipper body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the clipper body to pick up and reposition the nail clipper",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the clipper body steady while the lever is actuated",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp the body near the end to orient the cutting jaws toward a nail",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support the cutting mechanism",
+                "house and align the cutting jaws",
+                "stabilize during clipping"
+            ],
+            "semantic_description": "Elongated rose-gold metal body with a smooth reflective finish and hard texture, medium-sized and slightly tapered with a hole at one end and the cutting jaws at the opposite end.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9023131728172302,
+                    "position": [
+                        -0.11315552238374949,
+                        -0.014220581466361182,
+                        -0.007996903616003692
+                    ],
+                    "orientation": {
+                        "w": 0.4720015188642738,
+                        "xyz": [
+                            -0.570457385859179,
+                            0.33751187445872355,
+                            -0.5812733192809467
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.07976978272199631,
+                    "position": [
+                        0.09069110359996557,
+                        -0.012130612583860056,
+                        0.08135723939631134
+                    ],
+                    "orientation": {
+                        "w": 0.45336691737829404,
+                        "xyz": [
+                            0.1951185886971765,
+                            -0.8599983241011557,
+                            -0.1295764527795391
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "actuating lever",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lever to rotate it into operating position",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "pinch the lever to press down and actuate the clipper for cutting",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the raised lever to manipulate or reposition the clipper",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "press to cut nails",
+                "provide mechanical leverage",
+                "flip open for operation",
+                "transmit force to the jaws"
+            ],
+            "semantic_description": "Slim silver metal lever with a smooth slightly reflective finish and hard texture, long and narrow with a rounded hole at the free end, mounted on top of the clipper body when folded.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9328442215919495,
+                    "position": [
+                        -0.11636097077280283,
+                        0.014909159315720899,
+                        0.011209562071599066
+                    ],
+                    "orientation": {
+                        "w": 0.4966865673910182,
+                        "xyz": [
+                            0.562793989793277,
+                            0.5113418355449854,
+                            0.41844343231478426
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9202119708061218,
+                    "position": [
+                        -0.11146118585020304,
+                        0.004109708981559379,
+                        0.011555384495295584
+                    ],
+                    "orientation": {
+                        "w": 0.4477542881076175,
+                        "xyz": [
+                            -0.5225188504193261,
+                            0.5586451512571672,
+                            -0.46303967801319385
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.1510658860206604,
+                    "position": [
+                        0.12565138097852468,
+                        -0.008135138155921595,
+                        0.020104669616557658
+                    ],
+                    "orientation": {
+                        "w": 0.6476589116019452,
+                        "xyz": [
+                            0.05746721063529323,
+                            -0.7550331931919175,
+                            -0.08461873966680734
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot pin and jaw joint",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect moving parts",
+                "act as rotation pivot",
+                "lock the lever to the body",
+                "align the cutting jaws"
+            ],
+            "semantic_description": "Small metal joint area at the cutting end with smooth reflective surfaces, including the pivot pin and hooked interface where the lever engages the clipper body and cutting jaws.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Part colors/descriptions are swapped; cyan and blue identify opposite components from RGB views."
+    }
+}

dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cdc0ba4803bec1dd58f50802499ff413496247616561732caeffd08f4dff5fd
+size 3786104

dataset/bathroom_supplies/personal_care/56a7aba8e7b65fd3a13f307f41a7f483/nail_clipper_019.urdf

@@ -58,6 +58,7 @@
                <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>