Add asset bathroom_supplies/personal_care/7b37eed30a415aec887af82cd9858406

.gitattributes

@@ -7989,3 +7989,4 @@ dataset/bathroom_supplies/personal_care/788c6784576053d2a06c54ed3402318c/afforda
 dataset/bathroom_supplies/personal_care/7950e128521057dba32f32727b107b2a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7a204391846c5c8cb50a20b6e1b2468c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/7aee366e106e5fa6acde643f0f5466fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/7b37eed30a415aec887af82cd9858406/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/7b37eed30a415aec887af82cd9858406/affordance/affordance_annot.json

@@ -0,0 +1,166 @@
+{
+    "affordances": [
+        {
+            "part_name": "hair clip body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the clip body from the sides to pick up and reposition the hair clip",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the clip body while opening or placing the hair clip onto hair",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "stabilize the clip during storage or transfer",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "clamp hair",
+                "provide main grasp surface",
+                "support spring-loaded opening and closing",
+                "align and hold hair strands",
+                "provide anti-slip contact through teeth"
+            ],
+            "semantic_description": "Elongated slightly curved black plastic clip body with a semi-gloss smooth finish, hard texture, fine comb-like teeth along one edge, and a textured upper surface with a long central slot.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9187856912612915,
+                    "position": [
+                        -0.0035580633193603717,
+                        0.10146392323076725,
+                        0.0008577101543778554
+                    ],
+                    "orientation": {
+                        "w": 0.4621111179380621,
+                        "xyz": [
+                            0.4584697789864312,
+                            -0.528254060804663,
+                            0.5451664183325589
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9175015091896057,
+                    "position": [
+                        -0.004475957386603113,
+                        0.10019161738455296,
+                        0.006020070009981282
+                    ],
+                    "orientation": {
+                        "w": 0.4352670054715733,
+                        "xyz": [
+                            0.46720209465327067,
+                            -0.5456101841639592,
+                            0.5427470530882463
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9163614511489868,
+                    "position": [
+                        0.004568646989355329,
+                        -0.1089178454130888,
+                        -0.005120896312291734
+                    ],
+                    "orientation": {
+                        "w": 0.45100670158758027,
+                        "xyz": [
+                            -0.4088993771537139,
+                            -0.5561878041260379,
+                            -0.5657290703400815
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9149798154830933,
+                    "position": [
+                        0.004059051956573967,
+                        -0.10278263501822948,
+                        -0.002589418363641016
+                    ],
+                    "orientation": {
+                        "w": 0.5499415591272732,
+                        "xyz": [
+                            -0.5366061261604972,
+                            0.44082119849344026,
+                            0.46399872615180277
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9090514779090881,
+                    "position": [
+                        0.04418177376646781,
+                        0.09232241846621037,
+                        0.01594537631899584
+                    ],
+                    "orientation": {
+                        "w": 0.5251622210759406,
+                        "xyz": [
+                            0.32780754076895285,
+                            -0.6786041155848479,
+                            0.39527624780765896
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.908153772354126,
+                    "position": [
+                        0.00813240776915336,
+                        -0.10581359080970287,
+                        -0.009923256511683576
+                    ],
+                    "orientation": {
+                        "w": 0.5288612738825911,
+                        "xyz": [
+                            -0.5086914862305442,
+                            0.4436138627874614,
+                            0.514534221958686
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9071820378303528,
+                    "position": [
+                        -0.05397601579170441,
+                        0.08746648766100407,
+                        -0.0037690494646085426
+                    ],
+                    "orientation": {
+                        "w": 0.6447463890186459,
+                        "xyz": [
+                            0.3653742122566852,
+                            0.5959574681003533,
+                            -0.30925470906784885
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9060822129249573,
+                    "position": [
+                        0.046434985801170114,
+                        0.09012331254780293,
+                        0.006044097666745074
+                    ],
+                    "orientation": {
+                        "w": 0.5770454098319494,
+                        "xyz": [
+                            0.34046739483380384,
+                            -0.6357862349758326,
+                            0.3832445843873275
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/7b37eed30a415aec887af82cd9858406/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e132218ef7caf8167af2c5d0e33fa80fba752cd8f5b78acd7110f168502747
+size 3777012

dataset/bathroom_supplies/personal_care/7b37eed30a415aec887af82cd9858406/hair_clip_007.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>