Add asset bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a

.gitattributes

@@ -5829,4 +5829,4 @@ dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/afforda
 dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/bbe2c941cc33548f95eb909ffdc9d2cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/bd3c9b02321a5b6cbfff0adccab36821/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/affordance/affordance_annot.json

@@ -0,0 +1,240 @@
+{
+    "affordances": [
+        {
+            "part_name": "lever",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp or press the lever to rotate it and actuate the nail clipper",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "pinch the lever to pick up and reposition the nail clipper",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the lever while opening or closing the clipper during handling",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "actuate the clipping mechanism",
+                "provide a pressing surface",
+                "open and close the clipper",
+                "serve as a top manipulation surface"
+            ],
+            "semantic_description": "Long narrow top lever, predominantly white or light gray metal/plastic-looking surface with a smooth finish, rounded tip, printed black branding on top, and a pivoted end near the clipper head.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.698488175868988,
+                    "position": [
+                        0.025711454802149092,
+                        0.08474290126468986,
+                        0.05894507958146278
+                    ],
+                    "orientation": {
+                        "w": 0.43545749439504594,
+                        "xyz": [
+                            0.8556030307583179,
+                            0.1727897322655373,
+                            -0.2201452537666293
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.6690707802772522,
+                    "position": [
+                        -8.15766634332249e-05,
+                        0.10228991264011711,
+                        0.055904885070049204
+                    ],
+                    "orientation": {
+                        "w": 0.41775243971471254,
+                        "xyz": [
+                            0.6549335299676551,
+                            -0.5420254728603852,
+                            0.32055164514784296
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.6622846126556396,
+                    "position": [
+                        0.02003203926324204,
+                        0.08031943195965141,
+                        0.06957961364241783
+                    ],
+                    "orientation": {
+                        "w": 0.4159242091060279,
+                        "xyz": [
+                            0.8856066494957644,
+                            0.1382463578630762,
+                            -0.15360943716453554
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.6384408473968506,
+                    "position": [
+                        0.023819210358851706,
+                        0.09561861807014793,
+                        0.04196266575308982
+                    ],
+                    "orientation": {
+                        "w": 0.5249845213852902,
+                        "xyz": [
+                            0.8093154209699495,
+                            0.1516285819680756,
+                            -0.21542649515888615
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.6314157247543335,
+                    "position": [
+                        -0.0071911100512807025,
+                        0.08054607862140983,
+                        0.07532337798329536
+                    ],
+                    "orientation": {
+                        "w": 0.4179489275618384,
+                        "xyz": [
+                            0.8706083032212792,
+                            0.25119080702165025,
+                            -0.06529207287172278
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "clipper body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the clipper body to pick up and hold the nail clipper",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the body to stabilize it while the lever is rotated",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the body near the rear to orient the cutting end toward a nail",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "support the cutting jaws",
+                "provide the main gripping surface",
+                "stabilize the tool during use",
+                "form the main clipper arms"
+            ],
+            "semantic_description": "Main clipper body in white or light gray with a smooth finish, tapered elongated shape, visible side ridges near the rear, a small hole at the tail end, and curved cutting jaws at the front.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.9316014647483826,
+                    "position": [
+                        0.04153894854425744,
+                        -0.08147037273738533,
+                        -0.05660462261585053
+                    ],
+                    "orientation": {
+                        "w": 0.8820235402100213,
+                        "xyz": [
+                            -0.42179039517236955,
+                            -0.2095222621569217,
+                            0.015091677056015784
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.9312816858291626,
+                    "position": [
+                        -0.005763108025348629,
+                        -0.10168161487672478,
+                        -0.03502351672796067
+                    ],
+                    "orientation": {
+                        "w": 0.8058101522651673,
+                        "xyz": [
+                            -0.5769839309202217,
+                            0.10459221375954886,
+                            0.08258335659873522
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9271997809410095,
+                    "position": [
+                        -0.008646414264148916,
+                        -0.07238883769605309,
+                        0.06542402996274177
+                    ],
+                    "orientation": {
+                        "w": 0.37563100221731877,
+                        "xyz": [
+                            -0.9124392782742691,
+                            -0.10553433740372958,
+                            -0.12336294931744868
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9241088032722473,
+                    "position": [
+                        0.004417118501805817,
+                        -0.10453722870443016,
+                        -0.021760132847703062
+                    ],
+                    "orientation": {
+                        "w": 0.14634982968230964,
+                        "xyz": [
+                            -0.10971519147110383,
+                            0.6272265884081566,
+                            0.7570542324736602
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9211442470550537,
+                    "position": [
+                        0.012780548424416338,
+                        -0.10996585583779961,
+                        0.00937723858805839
+                    ],
+                    "orientation": {
+                        "w": 0.09970042222114583,
+                        "xyz": [
+                            -0.0541369893237172,
+                            -0.7479057402668127,
+                            -0.6540382373163208
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the lever to the clipper body",
+                "act as a rotation point",
+                "retain the moving parts"
+            ],
+            "semantic_description": "Small pivot/axle component near the clipper head, visible as a tiny colored metallic piece in some views, seated between the lever and main body at the hinge area.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f500a90723c763ff2745a4aa82a9621ac9c2977ed4853c87f8f226cf9077ba73
+size 3781188

dataset/bathroom_supplies/personal_care/c0233bca661f5df6b21705b7b924a16a/nail_clipper_006.urdf

@@ -52,6 +52,7 @@
                <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":"Missing distinct lever and hinge parts; current colors only split two arms plus small fragments.","merge_groups":[]}</PartSegChecker>