Add asset bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa

.gitattributes

@@ -5815,4 +5815,4 @@ dataset/bathroom_supplies/personal_care/ac75c3a3c687535d91553673e72086af/afforda
 dataset/bathroom_supplies/personal_care/ad0105b98e5d5f0f9ec4cbc0e9eeeba1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ad2b0971aaad5bd095b41039d85c5e0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/aefc5cb7b5cd570baaa5122d1f137798/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/affordance_annot.json

@@ -0,0 +1,134 @@
+{
+    "affordances": [
+        {
+            "part_name": "hair clip body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the clip body from the sides to pick up and place the hair clip",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body while opening the spring clip for insertion into hair",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "grasp near the wide end to stabilize the clip during manipulation or packing",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "clamp hair",
+                "provide main grasp surface",
+                "support spring opening and closing",
+                "hold decorative top elements",
+                "align along the hair strand"
+            ],
+            "semantic_description": "A medium-sized curved beige plastic clip body with a glossy smooth hard surface, comb-like inner teeth, a rounded wide hinge end, and white pearl-like beads decorating the top edge.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8562725782394409,
+                    "position": [
+                        -0.003307054954348132,
+                        0.09657955984584987,
+                        0.0043411264700807806
+                    ],
+                    "orientation": {
+                        "w": 0.4411814730578675,
+                        "xyz": [
+                            0.45282599585294,
+                            -0.5583726368507221,
+                            0.5371475809557886
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.8321586847305298,
+                    "position": [
+                        -0.006505900964839384,
+                        0.10012645344249904,
+                        0.0024843791538842197
+                    ],
+                    "orientation": {
+                        "w": 0.5448293605252408,
+                        "xyz": [
+                            0.5557253881671884,
+                            0.45905765007661403,
+                            -0.4284814287250056
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.8208926320075989,
+                    "position": [
+                        0.044225105113582686,
+                        0.08896119217388332,
+                        0.012891478421352076
+                    ],
+                    "orientation": {
+                        "w": 0.41807940020792456,
+                        "xyz": [
+                            0.6927466477828977,
+                            0.29931279384539133,
+                            -0.50569115925415
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8038394451141357,
+                    "position": [
+                        0.05006570092518814,
+                        0.08452436397783458,
+                        0.0071922094134606596
+                    ],
+                    "orientation": {
+                        "w": 0.5836867575419723,
+                        "xyz": [
+                            0.3220916507292341,
+                            -0.6437015604379528,
+                            0.37578589474646296
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.7947320342063904,
+                    "position": [
+                        0.04081276527722366,
+                        0.09315656195394695,
+                        0.013153133498690295
+                    ],
+                    "orientation": {
+                        "w": 0.4278718190974652,
+                        "xyz": [
+                            0.6828155467677357,
+                            0.3166595257884416,
+                            -0.5004152078443899
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.7944324612617493,
+                    "position": [
+                        0.006452304340200499,
+                        0.09946396271698177,
+                        -0.0036109971774749283
+                    ],
+                    "orientation": {
+                        "w": 0.4596314753063916,
+                        "xyz": [
+                            0.47890074192493687,
+                            0.5149359341254071,
+                            -0.5424333784326049
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2f50dc5abc650fe972b7cb7fe6ccadbc829f1223a145aec64a9613d2b12c223
+size 3777156

dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/hair_clip_009.urdf

@@ -47,16 +47,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>1</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>