Add asset bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5

.gitattributes

@@ -8039,4 +8039,4 @@ dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/afforda
 dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/a041edc3afcd592fbef3f78858435f39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/a08d35b753cb537b985ae8752a5f5d4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/affordance/affordance_annot.json

@@ -0,0 +1,303 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper handle arm",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper handle arm together with the lower arm to hold and manipulate the nail clipper",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "pinch the upper handle arm to help stabilize the clipper during positioning",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a grip surface",
+                "transmit squeezing force",
+                "form part of the clipper body"
+            ],
+            "semantic_description": "Long peach or rose-gold colored metal handle arm with a smooth glossy finish and tapered rounded shape, forming the upper visible side of the nail clipper.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.764279305934906,
+                    "position": [
+                        -0.012159295918536372,
+                        0.10295891296118498,
+                        0.03077695006504655
+                    ],
+                    "orientation": {
+                        "w": 0.37218249024434386,
+                        "xyz": [
+                            0.4365949274342118,
+                            0.6679216229402246,
+                            -0.4740735901768105
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.7008585929870605,
+                    "position": [
+                        -0.007007769381743856,
+                        0.10286105703562498,
+                        0.025562059599906206
+                    ],
+                    "orientation": {
+                        "w": 0.49941363775125397,
+                        "xyz": [
+                            0.6109379218536433,
+                            -0.4633972034599486,
+                            0.4032417462201922
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower handle arm",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower handle arm together with the upper arm to pick up the nail clipper",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the lower handle arm as the main support while orienting the clipper for use",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a grip surface",
+                "support the clipper body",
+                "oppose the upper arm during squeezing"
+            ],
+            "semantic_description": "Long peach or rose-gold colored metal handle arm with a smooth glossy finish, slightly curved and tapered, forming the lower visible side of the nail clipper.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.9389990568161011,
+                    "position": [
+                        0.011873440278577618,
+                        -0.10417518485337496,
+                        0.021180248353630304
+                    ],
+                    "orientation": {
+                        "w": 0.2183733934883626,
+                        "xyz": [
+                            -0.16571779355478147,
+                            -0.7788250804629624,
+                            -0.5641650183745631
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9301050305366516,
+                    "position": [
+                        0.02139132509182673,
+                        -0.09791840333491564,
+                        0.02685444848611951
+                    ],
+                    "orientation": {
+                        "w": 0.1501252180330344,
+                        "xyz": [
+                            -0.025980679066385775,
+                            -0.8126300106939568,
+                            -0.5625121233763084
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9286975264549255,
+                    "position": [
+                        0.009159973284113221,
+                        -0.10637836623936892,
+                        -0.030368932988494635
+                    ],
+                    "orientation": {
+                        "w": 0.7791270508267689,
+                        "xyz": [
+                            -0.5829977373036557,
+                            -0.16573231548198386,
+                            -0.16002336258740193
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9272811412811279,
+                    "position": [
+                        0.012384544519591145,
+                        -0.10089665371924639,
+                        -0.02398810861632228
+                    ],
+                    "orientation": {
+                        "w": 0.7732072304705282,
+                        "xyz": [
+                            -0.6135840905328118,
+                            -0.13636657812976016,
+                            -0.08407912322508002
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.9251049160957336,
+                    "position": [
+                        -0.0016958174091996625,
+                        -0.10466497857123613,
+                        -0.03278008243069053
+                    ],
+                    "orientation": {
+                        "w": 0.20334784873328532,
+                        "xyz": [
+                            -0.13351630605492104,
+                            0.584684852119091,
+                            0.7739293715420485
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9250880479812622,
+                    "position": [
+                        -0.0032877643388928846,
+                        -0.10509572643786669,
+                        -0.03470618790015578
+                    ],
+                    "orientation": {
+                        "w": 0.80376060913642,
+                        "xyz": [
+                            -0.5842920194020024,
+                            -0.04763669515902025,
+                            -0.10150105683246548
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.924225389957428,
+                    "position": [
+                        0.015117426795768552,
+                        -0.10198876727372408,
+                        -0.032679380383342505
+                    ],
+                    "orientation": {
+                        "w": 0.24050981434123692,
+                        "xyz": [
+                            -0.09302255780573108,
+                            -0.5806605551795322,
+                            -0.772227396952103
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9131300449371338,
+                    "position": [
+                        0.012262710763025098,
+                        -0.098920744843781,
+                        -0.025797351729124784
+                    ],
+                    "orientation": {
+                        "w": 0.7732183222915822,
+                        "xyz": [
+                            -0.5936626338886557,
+                            -0.17236581667437478,
+                            -0.1413793777011006
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.8835325837135315,
+                    "position": [
+                        0.010510938634979539,
+                        -0.11037800181657076,
+                        -0.03381274780258536
+                    ],
+                    "orientation": {
+                        "w": 0.7909548703025958,
+                        "xyz": [
+                            -0.6001125160546759,
+                            0.0353807832911599,
+                            0.11403315918115087
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.8773753046989441,
+                    "position": [
+                        0.004069740811246447,
+                        -0.1082467483356595,
+                        -0.02368316939100623
+                    ],
+                    "orientation": {
+                        "w": 0.09579343573455822,
+                        "xyz": [
+                            -0.07487873895371701,
+                            0.6298042257890123,
+                            0.7671788769910007
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cutting edges",
+            "mask_color": "None visible as separate mask",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut fingernails",
+                "shear nail edges",
+                "form the clipping interface"
+            ],
+            "semantic_description": "Small silver metal cutting jaws at the front tip with reflective smooth surfaces and sharp curved edges, partially visible at the clipper head.",
+            "id": null
+        },
+        {
+            "part_name": "pivot rivet",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join the two handle arms",
+                "provide a rotational pivot",
+                "maintain alignment"
+            ],
+            "semantic_description": "Small round metallic rivet near the cutting-head end, appearing copper or rose-gold toned with a glossy finish, fastening the two arms together.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lever pin loop",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide the rotating pin for the clipper lever",
+                "retain the lever at the rear slot",
+                "enable lever repositioning"
+            ],
+            "semantic_description": "Small shiny metal loop-like pin at the rear end of the clipper, visible as a compact curved metallic piece seated in the end slot.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lever pin nub",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "lock the lever pin into the rear slot",
+                "act as part of the lever axle assembly",
+                "allow the lever to pivot and flip"
+            ],
+            "semantic_description": "Tiny metallic nub or inner pin element inside the rear loop assembly, appearing as a small smooth shiny piece at the clipper's back end.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Wrong part identities: mask labels describe handle bodies as lever/loop parts; cutting edges omitted from mask and pivot/lever components mislabeled."
+    }
+}

dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5803ab3171364f1939dfa5df0c79c198f35730bbc59ee980ec1d9eba8e9537f
+size 3782940

dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/nail_clipper_003.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>YES</PartSegChecker>