Add asset bathroom_supplies/personal_care/f6939b0f7b5a5876a771065a0f507713

.gitattributes

@@ -5876,4 +5876,4 @@ dataset/bathroom_supplies/personal_care/f0260dd83c2c5b7b8c2f3da95dd01b70/afforda
 dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f5fb41269700532a9ea4294297e942b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/f6755c3c51b85b19b39aac7af56d97b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/f6939b0f7b5a5876a771065a0f507713/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/f6939b0f7b5a5876a771065a0f507713/affordance/affordance_annot.json

@@ -0,0 +1,87 @@
+{
+    "affordances": [
+        {
+            "part_name": "cutting jaws",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut nails",
+                "nip small material",
+                "provide the working edge",
+                "meet to shear material"
+            ],
+            "semantic_description": "Small pointed silver metal jaws at the front, with a reflective smooth hard surface and narrow tapered shape forming the cutting tip.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot joint",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the handles",
+                "transmit squeezing force",
+                "allow jaw rotation",
+                "align the cutting jaws"
+            ],
+            "semantic_description": "Compact silver metal hinge at the center near the head, with a smooth slightly reflective hard finish and a rounded mechanical form joining handles to jaws.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handles",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp both handles together to pick up the tool",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handles while positioning the tool for nail cutting",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "squeeze the handles to actuate the cutting jaws",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp one handle and stabilize against the other during manipulation",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "apply squeezing force",
+                "open and close the jaws",
+                "support handling and positioning"
+            ],
+            "semantic_description": "Two long curved light pink coated handles forming the largest rear portion, with a mostly matte smooth hard surface and rounded loop-like shape for comfortable gripping.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_17": {
+                    "confidence": 0.8667217493057251,
+                    "position": [
+                        0.055643807048909366,
+                        -0.09023280268957024,
+                        0.004104541838387377
+                    ],
+                    "orientation": {
+                        "w": 0.6121339018522602,
+                        "xyz": [
+                            -0.36041714899888566,
+                            -0.6209652369696272,
+                            -0.3313513835581451
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/f6939b0f7b5a5876a771065a0f507713/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf4c53e2dfb750dfc9cd479e7380c62b18d6a83c978ffc5d3dfb58d410f484dc
+size 3780340

dataset/bathroom_supplies/personal_care/f6939b0f7b5a5876a771065a0f507713/nail_clipper_011.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>