Add asset bathroom_supplies/personal_care/9776879ef4b0516db9df64d2f50ad763

.gitattributes

@@ -8023,3 +8023,4 @@ dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/afforda
 dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/9776879ef4b0516db9df64d2f50ad763/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/9776879ef4b0516db9df64d2f50ad763/affordance/affordance_annot.json

@@ -0,0 +1,245 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer ring body with thumb lever",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer ring body to pick up the hair clip from a surface",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the ring body while pressing the lever to open or position the clip",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the side of the outer body to stabilize the clip during placement in hair",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "structural outer frame",
+                "surround the central opening",
+                "support the spring-loaded clamping mechanism",
+                "provide thumb-press area for opening the clip"
+            ],
+            "semantic_description": "Large circular pink plastic outer body with a smooth matte finish, rounded edges, and white printed brand text. One side includes an integrated rounded butterfly-like thumb lever/tab protruding from the ring.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9801750779151917,
+                    "position": [
+                        -0.0764479748904705,
+                        -0.10959468712098897,
+                        -0.005329970153979957
+                    ],
+                    "orientation": {
+                        "w": 0.30676412998577507,
+                        "xyz": [
+                            -0.6519861465389819,
+                            -0.27018949538964887,
+                            -0.6385980503073955
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9747319221496582,
+                    "position": [
+                        0.1150195337831974,
+                        -0.06714446772821248,
+                        -0.010942228022031486
+                    ],
+                    "orientation": {
+                        "w": 0.19662454009924596,
+                        "xyz": [
+                            -0.6805741322819227,
+                            0.0817299334496977,
+                            0.7010548185967889
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9736006855964661,
+                    "position": [
+                        0.10827107354998589,
+                        -0.07777369697578251,
+                        -0.02387022681068629
+                    ],
+                    "orientation": {
+                        "w": 0.7205103827915229,
+                        "xyz": [
+                            -0.13797778310713635,
+                            -0.6272272505356364,
+                            -0.26155858969637913
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9722148180007935,
+                    "position": [
+                        0.0977550707757473,
+                        -0.08461479772813618,
+                        -0.009997098590247333
+                    ],
+                    "orientation": {
+                        "w": 0.6962885653705203,
+                        "xyz": [
+                            -0.15288334115433513,
+                            -0.6689222553163006,
+                            -0.21059898877797092
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9660868048667908,
+                    "position": [
+                        0.01515364833176136,
+                        -0.11853301455266774,
+                        -0.03365791297983378
+                    ],
+                    "orientation": {
+                        "w": 0.4798186931262561,
+                        "xyz": [
+                            -0.4213092111372299,
+                            -0.4235834155146415,
+                            -0.6425337815543142
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9610357284545898,
+                    "position": [
+                        -0.12276428565382957,
+                        -0.005318583222106099,
+                        -0.002045641769655049
+                    ],
+                    "orientation": {
+                        "w": 0.08920094569127233,
+                        "xyz": [
+                            0.7198464586609525,
+                            -0.08038935571463635,
+                            0.6836679155327199
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9603958129882812,
+                    "position": [
+                        0.1226251982152462,
+                        0.013318316778168082,
+                        -0.00043205171823501587
+                    ],
+                    "orientation": {
+                        "w": 0.6874633458529771,
+                        "xyz": [
+                            0.15761999977489458,
+                            -0.7031178956138102,
+                            0.09041741340693092
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9525783658027649,
+                    "position": [
+                        -0.12480975314974785,
+                        -0.03625175659544766,
+                        -0.006068708258680999
+                    ],
+                    "orientation": {
+                        "w": 0.03989812591390835,
+                        "xyz": [
+                            0.6979306783304898,
+                            0.07179251323844293,
+                            0.7114399080994884
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9495376944541931,
+                    "position": [
+                        0.11910848692059517,
+                        0.023820747388526797,
+                        0.002697071642614901
+                    ],
+                    "orientation": {
+                        "w": 0.11414989794126441,
+                        "xyz": [
+                            0.7080342582259563,
+                            0.21158120057330576,
+                            -0.6639959981373212
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.944163978099823,
+                    "position": [
+                        0.12434404715895653,
+                        0.033196166856214404,
+                        -0.005051083746366203
+                    ],
+                    "orientation": {
+                        "w": 0.6931574877855324,
+                        "xyz": [
+                            0.15063700742202948,
+                            -0.6891218560106694,
+                            0.14816293966506777
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9415712356567383,
+                    "position": [
+                        0.12040804699063301,
+                        0.027139100013300776,
+                        0.01004577160347253
+                    ],
+                    "orientation": {
+                        "w": 0.114274605929311,
+                        "xyz": [
+                            0.7259826123825592,
+                            0.2173146089517003,
+                            -0.642390007467477
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9331897497177124,
+                    "position": [
+                        0.1282440982758999,
+                        0.008410013047978282,
+                        0.017986237187869847
+                    ],
+                    "orientation": {
+                        "w": 0.0795485833032102,
+                        "xyz": [
+                            0.7724146768350993,
+                            0.09422226494067243,
+                            -0.6230327075632797
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner metal spring teeth",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "clamp hair strands",
+                "provide spring tension",
+                "increase holding friction on hair",
+                "line the inner circumference of the opening"
+            ],
+            "semantic_description": "A ring of closely spaced metallic teeth or spring segments inside the opening, silver-gray and slightly shiny, arranged around the inner circumference beneath the pink outer body.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/9776879ef4b0516db9df64d2f50ad763/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb3bc28a68174cb90e3c7ed92cb2b38f31bf768a9e1b03beb1c5a41885859a50
+size 3768684

dataset/bathroom_supplies/personal_care/9776879ef4b0516db9df64d2f50ad763/hair_clip_008.urdf

@@ -54,6 +54,7 @@
                <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>