Add asset bathroom_supplies/personal_care/f5fb41269700532a9ea4294297e942b3

.gitattributes

@@ -5875,3 +5875,4 @@ dataset/bathroom_supplies/personal_care/efb4f469af9c5f7594503196e7f3c96c/afforda
 dataset/bathroom_supplies/personal_care/f0260dd83c2c5b7b8c2f3da95dd01b70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/f5fb41269700532a9ea4294297e942b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/f5fb41269700532a9ea4294297e942b3/affordance/affordance_annot.json

@@ -0,0 +1,86 @@
+{
+    "affordances": [
+        {
+            "part_name": "hair clip body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the clip body from the sides to pick up and reposition the hair clip",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the clip body while aligning it for insertion into hair",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "stabilize the clip body while actuating the spring end",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "clamp hair",
+                "cover the internal clasp",
+                "provide main grasp surface",
+                "provide decorative outer shell",
+                "guide insertion orientation"
+            ],
+            "semantic_description": "Elongated teardrop-shaped silver-toned metal body with a glossy reflective finish and smooth hard surface, medium-sized and slightly curved, covered on the outer face with clear faceted stones for decoration.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.831580638885498,
+                    "position": [
+                        0.0038457848077086965,
+                        0.09961640427354723,
+                        -0.00184274188359268
+                    ],
+                    "orientation": {
+                        "w": 0.5164882264965759,
+                        "xyz": [
+                            0.5597981505149615,
+                            0.44528689829867785,
+                            -0.47072871250221543
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.82761549949646,
+                    "position": [
+                        0.010717241088059382,
+                        0.0981918383622542,
+                        -0.0010363844048697501
+                    ],
+                    "orientation": {
+                        "w": 0.4849594045977674,
+                        "xyz": [
+                            0.4280504368376984,
+                            -0.5604793559747174,
+                            0.517155770480616
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8202863335609436,
+                    "position": [
+                        0.009284163819756941,
+                        0.0994474176550284,
+                        -0.005325210775481537
+                    ],
+                    "orientation": {
+                        "w": 0.4952663595491993,
+                        "xyz": [
+                            0.4209701984865307,
+                            -0.5442118388082495,
+                            0.5304043736490469
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/f5fb41269700532a9ea4294297e942b3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e24f3960bdf926420409c891320e51c701d0bd9a29c431b3f6681f7ff71cf87
+size 3777020

dataset/bathroom_supplies/personal_care/f5fb41269700532a9ea4294297e942b3/hair_clip_006.urdf

@@ -45,16 +45,17 @@
    </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>