Add asset bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3

.gitattributes

@@ -7956,4 +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/553c34cdebb75c19ba554de3e167fed3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/affordance/affordance_annot.json

@@ -0,0 +1,279 @@
+{
+    "affordances": [
+        {
+            "part_name": "clipper body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the nail clipper",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body while pressing the lever to actuate the clipper",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "stabilize the clipper by gripping the body during nail cutting",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support cutting arms",
+                "form the lower cutting structure",
+                "stabilize during cutting"
+            ],
+            "semantic_description": "Elongated silver metal lower body with a smooth reflective finish, broad flat shape, and a small round hole at the rear end, forming the main handle of the nail clipper.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.9025585055351257,
+                    "position": [
+                        -0.10571595490910113,
+                        0.013317392018507235,
+                        0.00971025793114677
+                    ],
+                    "orientation": {
+                        "w": 0.5314247092558664,
+                        "xyz": [
+                            0.5332656309192396,
+                            0.5133868336729333,
+                            0.411885304768091
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.8944019079208374,
+                    "position": [
+                        -0.06645696819759905,
+                        0.05237887594557833,
+                        -0.060185011418070644
+                    ],
+                    "orientation": {
+                        "w": 0.6485091290552553,
+                        "xyz": [
+                            -0.016814436285254857,
+                            0.45862296659398993,
+                            -0.607304008530268
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.886038064956665,
+                    "position": [
+                        -0.10586288780905306,
+                        -0.005252412243862636,
+                        -0.014920664892997593
+                    ],
+                    "orientation": {
+                        "w": 0.3986244464135334,
+                        "xyz": [
+                            0.5500147027890091,
+                            0.36885282646390716,
+                            0.63445249613112
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.8801168203353882,
+                    "position": [
+                        -0.11158681870438159,
+                        -0.015432514439453371,
+                        0.01787114521721378
+                    ],
+                    "orientation": {
+                        "w": 0.5073227183497004,
+                        "xyz": [
+                            -0.5373417706777956,
+                            0.5475424595378772,
+                            -0.3925362861371337
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.8771759271621704,
+                    "position": [
+                        -0.09707908541895449,
+                        0.027056859617005102,
+                        0.016175573749933392
+                    ],
+                    "orientation": {
+                        "w": 0.27076181901510876,
+                        "xyz": [
+                            -0.5756820713008567,
+                            0.5025315675639088,
+                            -0.5854401880193623
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.870931088924408,
+                    "position": [
+                        -0.0795532634947449,
+                        0.027679877166519873,
+                        -0.063610598386731
+                    ],
+                    "orientation": {
+                        "w": 0.7561446117143125,
+                        "xyz": [
+                            -0.07782468091871268,
+                            0.43518768663996255,
+                            -0.4824938575901983
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.8612341284751892,
+                    "position": [
+                        -0.10476992488838732,
+                        -0.011546832698513754,
+                        0.01429161342093721
+                    ],
+                    "orientation": {
+                        "w": 0.4298602774342661,
+                        "xyz": [
+                            0.5307878609213282,
+                            0.5436975547727141,
+                            0.48772672421845836
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.8547520041465759,
+                    "position": [
+                        -0.09720714599825442,
+                        -0.021758515576948412,
+                        0.028895782364998013
+                    ],
+                    "orientation": {
+                        "w": 0.5094190047335997,
+                        "xyz": [
+                            -0.5264776354356179,
+                            0.6187311995082466,
+                            -0.2836992769772892
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.8327932953834534,
+                    "position": [
+                        -0.07009567529894412,
+                        0.03955983910418581,
+                        0.05557680135825649
+                    ],
+                    "orientation": {
+                        "w": 0.0912720718394081,
+                        "xyz": [
+                            -0.6534652119629396,
+                            0.6045831375593691,
+                            -0.4462419247843493
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lever",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lever to rotate it open or closed",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "press the lever downward to actuate the clipper jaws",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pinch the lever for fine reorientation while handling the clipper",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "press to actuate cutting",
+                "provide leverage",
+                "fold over body for storage",
+                "open the clipper"
+            ],
+            "semantic_description": "Long slim silver metal top lever with a reflective smooth finish and tapered pointed end, mounted above the clipper body and pivoting near the cutting end.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join lever to body",
+                "act as rotation pivot",
+                "retain lever assembly"
+            ],
+            "semantic_description": "Small round silver metal pin or post with a smooth reflective finish, located near the hinge area where the lever attaches to the clipper body.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stamped thumb pad",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide finger press area",
+                "improve traction during pressing",
+                "mark the press point on the lever"
+            ],
+            "semantic_description": "Small stamped textured patch on the top lever, visible as a slightly matte silver rectangular area near the middle of the lever for thumb or finger contact.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutting end",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the clipping tip",
+                "guide nail placement at the front opening",
+                "identify the front cutting region"
+            ],
+            "semantic_description": "Small silver metal front tip region of the clipper, visible at the leading end where the opposed cutting edges meet.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lever hook",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "engage the pivot post",
+                "help flip the lever orientation",
+                "secure lever attachment during operation"
+            ],
+            "semantic_description": "Tiny silver metal hooked feature at the base of the lever near the pivot, protruding slightly to interface with the pivot post.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "nail file",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "file nail edges",
+                "provide abrasive surface",
+                "refine clipped nails"
+            ],
+            "semantic_description": "Flat rectangular textured area on the clipper body, slightly duller than the surrounding polished metal, used as a nail file.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue and orange parts are misidentified; blue is cutting edge region, orange is lever stamp, not thumb pad."
+    }
+}

dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08547ddfbc8025554f8ecb47c8b67176b23c60725b837e118d35f11ff842f2a0
+size 3784588

dataset/bathroom_supplies/personal_care/553c34cdebb75c19ba554de3e167fed3/nail_clipper_020.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>