Add asset bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d

.gitattributes

@@ -5725,3 +5725,4 @@ dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/afforda
 dataset/bathroom_supplies/personal_care/05e217d2d0f85cf7b13a2139d7c387ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/05faa10a90065fe084575a58e4d5e84a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/067f4ee1b77a5642acdb321bb23ca400/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/affordance/affordance_annot.json

@@ -0,0 +1,183 @@
+{
+    "affordances": [
+        {
+            "part_name": "lever handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the folding lever to rotate it and actuate the clipper jaws",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the lever to pick up and reposition the nail clipper",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "pinch the lever to stabilize the tool while opening or closing it",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide actuation leverage",
+                "press the cutting jaws closed",
+                "serve as a folding handle",
+                "help stabilize manipulation"
+            ],
+            "semantic_description": "Long silver metal lever with a smooth reflective finish, slender and slightly tapered with a pointed end, mounted on top of the clipper body.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.5616187453269958,
+                    "position": [
+                        0.10507247829809785,
+                        0.007623376441188157,
+                        0.014033103478141129
+                    ],
+                    "orientation": {
+                        "w": 0.6797493407082306,
+                        "xyz": [
+                            0.032550008930576864,
+                            -0.7325057935338676,
+                            -0.017793065072229452
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "clipper body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the clipper body to pick up the tool from a surface",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the body to stabilize it while rotating the lever",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the body near the rear to orient the clipper for placement or storage",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "support the tool structure",
+                "house the cutting jaws",
+                "provide main grip surface",
+                "align the blades"
+            ],
+            "semantic_description": "Elongated silver metal body with a smooth reflective finish, forming the lower frame of the nail clipper and including a small hanging hole at the rear.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_39": {
+                    "confidence": 0.6578008532524109,
+                    "position": [
+                        0.08796785259619355,
+                        -0.045350675820373,
+                        -0.03853915713261813
+                    ],
+                    "orientation": {
+                        "w": 0.6199103090036909,
+                        "xyz": [
+                            -0.5302548567821812,
+                            -0.20235162176708832,
+                            0.5418439044762672
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cutting edge",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut nails",
+                "form the jaw edge",
+                "meet the opposing blade",
+                "define cutting opening"
+            ],
+            "semantic_description": "Thin silver metal cutting edge at the front tip of the clipper where the curved blades meet, with a shiny smooth hard surface.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge pin",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "pivot the lever",
+                "secure the lever to the body",
+                "transfer pressing force",
+                "maintain alignment at the joint"
+            ],
+            "semantic_description": "Small round silver metal pin at the clipper hinge near the front joint, with a reflective smooth finish.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lever cam / pin tab",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "engage the lever slot",
+                "guide lever motion",
+                "help transmit force into the jaws"
+            ],
+            "semantic_description": "Small blue-masked metal feature near the hinge area on the lever side, appearing as a compact protruding tab or cam element rather than a separate handleable post.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lever textured pad",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "improve thumb contact",
+                "add traction for actuation",
+                "mark the press area on the lever"
+            ],
+            "semantic_description": "Small elongated textured silver patch on the upper surface of the lever around the middle, slightly rougher and duller than the surrounding polished metal.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "body textured pad",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "add grip texture",
+                "mark a contact area on the body"
+            ],
+            "semantic_description": "Textured silver patch on the upper surface of the body toward the rear, rougher and less reflective than the surrounding shiny metal.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "nail file strip",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "file nail edges",
+                "smooth trimmed nails",
+                "provide abrasive surface"
+            ],
+            "semantic_description": "Very thin narrow metallic strip along the side of the body visible mainly in side views, running lengthwise near the inner side rather than as a broad panel.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Purple part is the jaw/blade cap, not the cutting edge; several graspability labels for textured pads are too strict."
+    }
+}

dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b779110a2adf329cbb9e855c442a79421140bde418352e274750013252c2a5c
+size 3785736

dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/nail_clipper_013.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>