Add asset bathroom_supplies/personal_care/1f28a552cc3e59cb882574629b3a57e2

.gitattributes

@@ -5751,3 +5751,4 @@ dataset/bathroom_supplies/personal_care/1949cea20dd356b6a41973e8187fe7ee/afforda
 dataset/bathroom_supplies/personal_care/167cd5b883c055699434cfe62a8ff8a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/1be79bd4dce85ab59e67d4008ad5fe00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/1ec50b2f97b25caa8ae590f9b3892ec1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/1f28a552cc3e59cb882574629b3a57e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/1f28a552cc3e59cb882574629b3a57e2/affordance/affordance_annot.json

@@ -0,0 +1,303 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper lever",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper lever to pick up or reposition the nail clipper",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the upper lever while rotating or unfolding the clipper",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "pinch the lever during manipulation to help actuate the clipper",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide pressing leverage",
+                "actuate the clipper jaws",
+                "serve as a handling surface",
+                "assist opening and closing"
+            ],
+            "semantic_description": "Long silver-white metal lever with a smooth hard surface, rounded end, and a textured patch near the finger contact region, mounted on top of the nail clipper.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.6009751558303833,
+                    "position": [
+                        0.09308490995317698,
+                        0.010967475252982695,
+                        0.03919343574671075
+                    ],
+                    "orientation": {
+                        "w": 0.41032029591825275,
+                        "xyz": [
+                            0.6399948983459269,
+                            -0.5032314984316659,
+                            -0.41085501558939785
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.3298576772212982,
+                    "position": [
+                        0.07756362948566675,
+                        0.015536719824012835,
+                        0.06571026443270966
+                    ],
+                    "orientation": {
+                        "w": 0.30599079195864815,
+                        "xyz": [
+                            0.7848003871931264,
+                            -0.42769916209384007,
+                            -0.327919828986088
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower body to pick up the nail clipper",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the lower body to stabilize the clipper while the lever is pressed",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the body near the rear hole to reposition or orient the clipper",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "support the clipper structure",
+                "house the cutting jaws",
+                "provide a stable grip surface",
+                "align the blades during cutting"
+            ],
+            "semantic_description": "Elongated silver-white metal body with a smooth hard finish, slightly tapered flat shape, a rear hanging hole, and cutting jaws formed at the front end.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.8852797150611877,
+                    "position": [
+                        -0.10196394380182028,
+                        0.003924350145098288,
+                        0.0032456605113111436
+                    ],
+                    "orientation": {
+                        "w": 0.4481329679318199,
+                        "xyz": [
+                            0.5717323654265475,
+                            0.44982048283923204,
+                            0.5195772113888978
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.880596935749054,
+                    "position": [
+                        -0.10469891037791967,
+                        -0.002516901462513488,
+                        0.0110611284035258
+                    ],
+                    "orientation": {
+                        "w": 0.5212204591818748,
+                        "xyz": [
+                            -0.4804836804616143,
+                            0.5808284752407008,
+                            -0.40012866441915923
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.8781673908233643,
+                    "position": [
+                        -0.10034263785928488,
+                        0.0003541590485838242,
+                        0.02340550086228177
+                    ],
+                    "orientation": {
+                        "w": 0.4005002537246982,
+                        "xyz": [
+                            -0.5917633978863596,
+                            0.5311497056673768,
+                            -0.4552972851422488
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.8687307238578796,
+                    "position": [
+                        -0.1044949283823371,
+                        -0.006528940160933416,
+                        0.015377137053292245
+                    ],
+                    "orientation": {
+                        "w": 0.4306867607262878,
+                        "xyz": [
+                            0.5452889698436952,
+                            0.541611238061006,
+                            0.4731026530341201
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.8676882386207581,
+                    "position": [
+                        -0.10316388215869665,
+                        0.0016141670130309649,
+                        0.012769658293109387
+                    ],
+                    "orientation": {
+                        "w": 0.42209864854163953,
+                        "xyz": [
+                            0.5978597969494859,
+                            0.4741238826030417,
+                            0.4894925311342949
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.8569008111953735,
+                    "position": [
+                        -0.10176122095435858,
+                        -0.002262448069814127,
+                        0.013340859848540276
+                    ],
+                    "orientation": {
+                        "w": 0.410717501485031,
+                        "xyz": [
+                            0.5944865331953261,
+                            0.48110886535707587,
+                            0.4964183271174854
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.8518507480621338,
+                    "position": [
+                        -0.10372456070035696,
+                        0.01743505977356108,
+                        0.015269021678250283
+                    ],
+                    "orientation": {
+                        "w": 0.4819127445226221,
+                        "xyz": [
+                            0.6102208114990023,
+                            0.46841210897606333,
+                            0.41950061268700234
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.846698522567749,
+                    "position": [
+                        -0.10625170078128576,
+                        0.0011446270000305958,
+                        0.019232154998462647
+                    ],
+                    "orientation": {
+                        "w": 0.4657377830381498,
+                        "xyz": [
+                            -0.5172946921258758,
+                            0.5838487587026931,
+                            -0.4178697714724393
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.8331621289253235,
+                    "position": [
+                        -0.10737873520702124,
+                        0.0038982279438641854,
+                        0.016207135457079858
+                    ],
+                    "orientation": {
+                        "w": 0.4676440044778176,
+                        "xyz": [
+                            0.5556741940897899,
+                            0.5334553042415788,
+                            0.43354436159998483
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8088303804397583,
+                    "position": [
+                        -0.11053725238889456,
+                        -0.006081502993765753,
+                        0.0030647750827483833
+                    ],
+                    "orientation": {
+                        "w": 0.5533451566702848,
+                        "xyz": [
+                            -0.46830228055255646,
+                            0.5496138944571765,
+                            -0.4152429152176204
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.7637628316879272,
+                    "position": [
+                        0.08843510691076517,
+                        0.01124927576893242,
+                        -0.041388389479834586
+                    ],
+                    "orientation": {
+                        "w": 0.516595909055837,
+                        "xyz": [
+                            0.47018778370701747,
+                            -0.2911599615171696,
+                            -0.6536650454237067
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lever to body",
+                "provide rotational pivot",
+                "maintain alignment",
+                "transmit pressing force"
+            ],
+            "semantic_description": "Small round metal pin near the clipper head, smooth and slightly reflective, joining the moving lever to the main body.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "textured finger pad",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "increase finger traction",
+                "reduce slipping",
+                "improve control during actuation"
+            ],
+            "semantic_description": "Small light gray textured anti-slip pad inset on a metal surface, rectangular or rounded-rectangular, rougher than the surrounding smooth metal.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Cyan parts are textured grip patches on both lever and body, not one separate pad; one grasp label is too restrictive."
+    }
+}

dataset/bathroom_supplies/personal_care/1f28a552cc3e59cb882574629b3a57e2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71f4d6c63988387f3710bd50991fffcaf96aa9733cc8a7e4515b72ca1b1b4f0d
+size 3784092

dataset/bathroom_supplies/personal_care/1f28a552cc3e59cb882574629b3a57e2/nail_clipper_037.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>YES</PartSegChecker>