Add asset bathroom_supplies/personal_care/dab3262cdd93574f8c26a59712be1bd9

.gitattributes

@@ -5853,4 +5853,5 @@ dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/afforda
 dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/da55a5709af85f19a5619773e3394e57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/dab3262cdd93574f8c26a59712be1bd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/dab3262cdd93574f8c26a59712be1bd9/affordance/affordance_annot.json

@@ -0,0 +1,204 @@
+{
+    "affordances": [
+        {
+            "part_name": "lower handle and body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower handle/body to pick up and reposition the nail clipper",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the body steady while pressing the upper lever to cut a nail",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grip the body to orient the cutting end toward the nail",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support the cutting head",
+                "provide structural body for the clipper",
+                "stabilize during clipping"
+            ],
+            "semantic_description": "Elongated light aqua or mint-colored coated metal lower handle/body with a smooth satin finish, slightly tapered shape, rounded end with a small lanyard hole, and shallow textured grip areas.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.8531981706619263,
+                    "position": [
+                        -0.10507823195075616,
+                        0.010132032319233986,
+                        -0.0021204269723966718
+                    ],
+                    "orientation": {
+                        "w": 0.4827336989352302,
+                        "xyz": [
+                            0.5707067259192408,
+                            0.41150124164803037,
+                            0.5214678676821618
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.807325005531311,
+                    "position": [
+                        -0.10081216361140832,
+                        0.014769703022466274,
+                        -0.03552014229353517
+                    ],
+                    "orientation": {
+                        "w": 0.6261119845596375,
+                        "xyz": [
+                            0.43358745437479146,
+                            0.38081988479099205,
+                            0.5243681126340124
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.7923856377601624,
+                    "position": [
+                        -0.10726034309482202,
+                        0.013015635184274288,
+                        -0.012825165293179452
+                    ],
+                    "orientation": {
+                        "w": 0.6472156211715222,
+                        "xyz": [
+                            0.4137184263082159,
+                            0.5175453287639921,
+                            0.3769560135071266
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.7872117757797241,
+                    "position": [
+                        -0.10481165017699823,
+                        0.020388294815347763,
+                        -0.014143997221253812
+                    ],
+                    "orientation": {
+                        "w": 0.6815129655736963,
+                        "xyz": [
+                            0.40854105883121955,
+                            0.5159040634545381,
+                            0.3201207245948122
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.7582361102104187,
+                    "position": [
+                        -0.10439527448033914,
+                        -0.0017187115845445078,
+                        -0.033619275665842
+                    ],
+                    "orientation": {
+                        "w": 0.6276615017096421,
+                        "xyz": [
+                            0.37689489803977544,
+                            0.44969557260094684,
+                            0.5116299122278625
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.7337320446968079,
+                    "position": [
+                        -0.1056221392354928,
+                        0.02412046013705549,
+                        -0.01520452683325857
+                    ],
+                    "orientation": {
+                        "w": 0.5630769947436733,
+                        "xyz": [
+                            0.5524812866071029,
+                            0.36003763543606837,
+                            0.4980779326661626
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.6798154711723328,
+                    "position": [
+                        0.10173768881941214,
+                        0.026264957024977775,
+                        -0.008756772964261472
+                    ],
+                    "orientation": {
+                        "w": 0.5200206944171906,
+                        "xyz": [
+                            -0.36086719661206007,
+                            -0.5712202550920221,
+                            0.5225521638648345
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.6736252307891846,
+                    "position": [
+                        0.09892741922521964,
+                        0.011550504586921306,
+                        0.02277406642679125
+                    ],
+                    "orientation": {
+                        "w": 0.6201239550901746,
+                        "xyz": [
+                            -0.056299404553585376,
+                            -0.7770928625689496,
+                            0.09166973499813093
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper lever",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press or pinch the upper lever to actuate the clipper and close the jaws",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the raised lever lightly while repositioning the small clipper",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "apply cutting force",
+                "open and close the jaws",
+                "provide finger press surface",
+                "pivot over the body"
+            ],
+            "semantic_description": "Long light aqua or mint-colored coated metal upper lever with a smooth satin finish, gently curved elongated shape, and a small textured thumb pad near one end, mounted above the body at the pivot.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutting jaws",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut nails",
+                "form the clipping edge",
+                "contact the nail tip",
+                "provide precise cutting alignment"
+            ],
+            "semantic_description": "Small exposed silver metal jaw section at the front with a reflective finish, hard smooth texture, and curved cutting edges located at the tip of the clipper.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/dab3262cdd93574f8c26a59712be1bd9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f86d747ea285f34c9673170940866636417cfcd00df7cf42cd3f03c706686d
+size 3780188

dataset/bathroom_supplies/personal_care/dab3262cdd93574f8c26a59712be1bd9/nail_clipper_032.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>