Add asset bathroom_supplies/personal_care/5353f96e68615fbe8ab85bc57e2dad0f

.gitattributes

@@ -5797,3 +5797,4 @@ dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/afforda
 dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/5353f96e68615fbe8ab85bc57e2dad0f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/5353f96e68615fbe8ab85bc57e2dad0f/affordance/affordance_annot.json

@@ -0,0 +1,213 @@
+{
+    "affordances": [
+        {
+            "part_name": "clip body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the clip body from the sides to pick up and reposition the hair clip",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the clip body while opening or placing it in hair",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "pinch the clip body to stabilize it during storage or handoff",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "clamp hair when closed",
+                "support spring mechanism",
+                "provide structure",
+                "align the clip"
+            ],
+            "semantic_description": "Elongated slightly curved white plastic body with a hard smooth mostly matte finish, fine comb-like teeth along one edge, blue floral decoration on the outer face, and a medium-sized rounded rectangular form making up most of the clip.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9285804033279419,
+                    "position": [
+                        -0.0032795494771562517,
+                        0.10331237933132797,
+                        0.0024847500753821805
+                    ],
+                    "orientation": {
+                        "w": 0.5191984044131004,
+                        "xyz": [
+                            0.5094080281985923,
+                            -0.4854853560936079,
+                            0.4850159241513379
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.921808660030365,
+                    "position": [
+                        -0.0007895621238276362,
+                        0.10826762637589127,
+                        0.002659926496562548
+                    ],
+                    "orientation": {
+                        "w": 0.4856473875501813,
+                        "xyz": [
+                            0.5099829821392347,
+                            0.5047239976964446,
+                            -0.49931719281772863
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.916720449924469,
+                    "position": [
+                        -0.010124086344148964,
+                        0.10763481876347214,
+                        0.01043418476183433
+                    ],
+                    "orientation": {
+                        "w": 0.5256282065886257,
+                        "xyz": [
+                            0.5428636849525512,
+                            0.49900736817861213,
+                            -0.4242707325536575
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9119434952735901,
+                    "position": [
+                        -0.0007447607931680977,
+                        0.09945586940739304,
+                        0.0010515811300138012
+                    ],
+                    "orientation": {
+                        "w": 0.4927671189374215,
+                        "xyz": [
+                            0.5254855237372223,
+                            0.4870100843645039,
+                            -0.4938286226658081
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9072839617729187,
+                    "position": [
+                        -0.0018331966712139547,
+                        0.11067994555924088,
+                        0.0067137196456315
+                    ],
+                    "orientation": {
+                        "w": 0.5232268023884235,
+                        "xyz": [
+                            0.5651459432170384,
+                            0.4567864371100796,
+                            -0.44518527266744695
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9042648077011108,
+                    "position": [
+                        -0.007010740169789642,
+                        0.10286469629500061,
+                        0.002808126693707891
+                    ],
+                    "orientation": {
+                        "w": 0.4733431995474021,
+                        "xyz": [
+                            0.49382272418799056,
+                            0.5258160920589787,
+                            -0.5055717257220809
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9032742977142334,
+                    "position": [
+                        0.00448511732975021,
+                        0.10361800214741379,
+                        0.001067747492925264
+                    ],
+                    "orientation": {
+                        "w": 0.46665481439287204,
+                        "xyz": [
+                            0.4806578950737272,
+                            0.5243091917294946,
+                            -0.5256435518250099
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8985915184020996,
+                    "position": [
+                        0.005578119365964085,
+                        0.10287627449724823,
+                        -0.0008995490352390334
+                    ],
+                    "orientation": {
+                        "w": 0.43598707741377607,
+                        "xyz": [
+                            0.4530981817375716,
+                            0.5427948953643075,
+                            -0.5567683608115243
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8964636921882629,
+                    "position": [
+                        0.004790088220033795,
+                        0.10788044950459152,
+                        -0.0016677340463502333
+                    ],
+                    "orientation": {
+                        "w": 0.43966646687940353,
+                        "xyz": [
+                            0.44460734088165826,
+                            0.5434711784055158,
+                            -0.560050701792653
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8956652283668518,
+                    "position": [
+                        0.015315643569920212,
+                        0.10454315564129502,
+                        0.004793683605385013
+                    ],
+                    "orientation": {
+                        "w": 0.4867462547632546,
+                        "xyz": [
+                            0.43044409345133466,
+                            -0.5678585635805341,
+                            0.5053044801454425
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "metal spring bar",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide spring tension",
+                "connect the two halves",
+                "enable opening and closing",
+                "return the clip to closed position"
+            ],
+            "semantic_description": "Thin gold-toned metal spring and hinge element with a smooth slightly reflective finish, narrow elongated shape set in the center channel and at the side joint, small relative to the body and primarily serving the closure mechanism.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/5353f96e68615fbe8ab85bc57e2dad0f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5cd71df4fedcff3bd2bc84edbe3f324455a4c107912650423fe826016df6847
+size 3779216

dataset/bathroom_supplies/personal_care/5353f96e68615fbe8ab85bc57e2dad0f/hair_clip_005.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>