Add asset bathroom_supplies/personal_care/71ae55d4c0a15f4f950d96ea8d44c810

.gitattributes

@@ -7972,3 +7972,4 @@ dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/afforda
 dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/71ae55d4c0a15f4f950d96ea8d44c810/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/71ae55d4c0a15f4f950d96ea8d44c810/affordance/affordance_annot.json

@@ -0,0 +1,276 @@
+{
+    "affordances": [
+        {
+            "part_name": "hair clip body",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main outer body from the sides to pick up and reposition the hair clip",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the outer body while aligning the clip with hair before opening",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "stabilize the clip by the main frame while another tool actuates the hinge area",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "clamp hair",
+                "form the opposing jaws",
+                "support opening and closing",
+                "provide structure"
+            ],
+            "semantic_description": "Medium-brown hair claw clip body with a wood-grain appearance and smooth matte to satin finish. It has an elongated curved frame with open slots, interlocking teeth along the jaws, and a rounded top pressing pad, making up nearly all of the visible object.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.961024284362793,
+                    "position": [
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+                        -0.021096152300742688,
+                        -0.11396845860872418
+                    ],
+                    "orientation": {
+                        "w": 0.7110601765618205,
+                        "xyz": [
+                            -0.03182948733546091,
+                            -0.06227443209398076,
+                            -0.6996443411842952
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.960864245891571,
+                    "position": [
+                        0.07130786406924017,
+                        -0.034064577008393826,
+                        -0.11067864729557186
+                    ],
+                    "orientation": {
+                        "w": 0.7058425381664298,
+                        "xyz": [
+                            -0.041533764095708046,
+                            -0.14081096388283076,
+                            -0.6929888384420069
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9582090973854065,
+                    "position": [
+                        0.07748525220085867,
+                        0.0009678977185103577,
+                        -0.11905894859228283
+                    ],
+                    "orientation": {
+                        "w": 0.7101171788893716,
+                        "xyz": [
+                            0.029662419117800192,
+                            -0.02855195930483756,
+                            -0.7028787368800794
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9569265842437744,
+                    "position": [
+                        0.07060449200798757,
+                        -0.06177506693711621,
+                        -0.09378505928907543
+                    ],
+                    "orientation": {
+                        "w": 0.6870303313470286,
+                        "xyz": [
+                            -0.18352803116625574,
+                            -0.24808120113545173,
+                            -0.6578468691334034
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9564744234085083,
+                    "position": [
+                        0.03987351435353048,
+                        -0.03398027741422993,
+                        -0.10898842348251492
+                    ],
+                    "orientation": {
+                        "w": 0.7054465777091995,
+                        "xyz": [
+                            -0.08083272482869897,
+                            0.10870653262338648,
+                            0.6956968350942436
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9543197751045227,
+                    "position": [
+                        0.028782067849533632,
+                        -0.016973652924207272,
+                        -0.10880805237684399
+                    ],
+                    "orientation": {
+                        "w": 0.7021443245246604,
+                        "xyz": [
+                            0.059180182069034554,
+                            0.13655714382874606,
+                            0.6963068289607821
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9542936682701111,
+                    "position": [
+                        0.06997159498860128,
+                        -0.028459490324166836,
+                        -0.11327779723796993
+                    ],
+                    "orientation": {
+                        "w": 0.6840955048834407,
+                        "xyz": [
+                            -0.07516425064518088,
+                            0.054079643970708524,
+                            0.7234908898743787
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9539713859558105,
+                    "position": [
+                        0.03268064933945425,
+                        -0.013753850991633954,
+                        -0.1125209821620956
+                    ],
+                    "orientation": {
+                        "w": 0.7146302176883619,
+                        "xyz": [
+                            -0.018626834801428616,
+                            -0.03011364121625215,
+                            -0.6986056552910691
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9509236216545105,
+                    "position": [
+                        0.04523306342889555,
+                        -0.009919309104589047,
+                        -0.1165628848830238
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+                    "orientation": {
+                        "w": 0.6946873394924571,
+                        "xyz": [
+                            0.008931033749631816,
+                            0.054384603045484425,
+                            0.7171973591255338
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9506334066390991,
+                    "position": [
+                        0.017836470186011866,
+                        -0.01001457129677874,
+                        -0.10973825736436993
+                    ],
+                    "orientation": {
+                        "w": 0.7053704953454389,
+                        "xyz": [
+                            0.10645395304572779,
+                            0.16444265679552394,
+                            0.6812331706567859
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9505653381347656,
+                    "position": [
+                        0.04975004124571569,
+                        0.001605167821253417,
+                        -0.11619245691690594
+                    ],
+                    "orientation": {
+                        "w": 0.6959015550799957,
+                        "xyz": [
+                            0.03944871320067665,
+                            0.04262222347951905,
+                            0.7157850031466965
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9476884007453918,
+                    "position": [
+                        -0.033677179337246343,
+                        -0.005495822570082964,
+                        -0.1142784102121368
+                    ],
+                    "orientation": {
+                        "w": 0.7285124482048229,
+                        "xyz": [
+                            0.028672417087412107,
+                            0.037142359935374736,
+                            0.6834236975752396
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9467089176177979,
+                    "position": [
+                        0.03338248285581358,
+                        -0.017547157640365185,
+                        -0.11674288345966488
+                    ],
+                    "orientation": {
+                        "w": 0.6931584872981505,
+                        "xyz": [
+                            -0.08780628814205142,
+                            0.007519687879636083,
+                            -0.715377397981965
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9465720057487488,
+                    "position": [
+                        0.04509970548679121,
+                        -0.060894672806171,
+                        -0.10257071687374264
+                    ],
+                    "orientation": {
+                        "w": 0.6974220226283128,
+                        "xyz": [
+                            -0.2145426471759071,
+                            -0.16475323190973568,
+                            -0.6636492654038606
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "hinge area",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the two clip halves",
+                "provide spring tension for closing",
+                "enable opening and closing"
+            ],
+            "semantic_description": "Very small dark hinge/spring region near the center pivot between the two brown clip halves. It is only partially visible as a recessed compact component with a slightly darker, mildly reflective appearance.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/71ae55d4c0a15f4f950d96ea8d44c810/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e58711fa02ba876ea61b2c5f82ce378d051b14edba8aedb0c8fa5fa41d74c62e
+size 3782316

dataset/bathroom_supplies/personal_care/71ae55d4c0a15f4f950d96ea8d44c810/hair_clip_019.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>NO: {"summary":"Mostly one-part mask with small red fragments; hinge and jaws are not functionally separated, and merge-only cannot fix it.","merge_groups":[{"colors":["Red","Magenta"],"target_part":"main clip body","reason":"Red appears as small accidental fragments"}]}</PartSegChecker>