Add asset desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6

.gitattributes

@@ -6505,3 +6505,4 @@ dataset/desktop_supplies/office_stationery/ced56538dab75e5eaa8567d1cdd9b12a/affo
 dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d036ab39a3445b6a8b56e818486833de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/affordance/affordance_annot.json

@@ -0,0 +1,145 @@
+{
+    "affordances": [
+        {
+            "part_name": "marker barrel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the barrel to pick up and reposition the marker",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the barrel to use the marker for writing or highlighting",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "grasp the barrel to stabilize the marker while removing or attaching the cap",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house the ink reservoir",
+                "support writing control",
+                "connect capped end and writing end"
+            ],
+            "semantic_description": "Long slender plastic barrel forming most of the marker body, predominantly yellow with smooth semi-gloss finish. Several faces appear white due to printed label panels with black text/branding, and one side includes a raised clip-like yellow feature near one end.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.8906921148300171,
+                    "position": [
+                        0.11411713971756399,
+                        0.011380428477423266,
+                        -0.048945549031486735
+                    ],
+                    "orientation": {
+                        "w": 0.6616650303882462,
+                        "xyz": [
+                            -0.26872609077154597,
+                            -0.4148252840272867,
+                            0.5638312331111547
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.8862318396568298,
+                    "position": [
+                        0.11126374616287649,
+                        0.012609628058271483,
+                        -0.05159948309301399
+                    ],
+                    "orientation": {
+                        "w": 0.5792905514790577,
+                        "xyz": [
+                            0.41587766400513265,
+                            -0.2461427737771198,
+                            -0.6564159965037631
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.8835405707359314,
+                    "position": [
+                        0.11390723451040685,
+                        0.013386648177402094,
+                        -0.04779189740656875
+                    ],
+                    "orientation": {
+                        "w": 0.6711247218583639,
+                        "xyz": [
+                            -0.25751421283489306,
+                            -0.4266864727107462,
+                            0.5488321163199367
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.8784130811691284,
+                    "position": [
+                        0.10924364789389074,
+                        0.014202380581991747,
+                        -0.04680051197647117
+                    ],
+                    "orientation": {
+                        "w": 0.6692802200104127,
+                        "xyz": [
+                            -0.25373383910857356,
+                            -0.4306336228189179,
+                            0.5497615927762617
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.8730115294456482,
+                    "position": [
+                        0.11153796478174627,
+                        -0.011752866179449484,
+                        -0.048809549858560786
+                    ],
+                    "orientation": {
+                        "w": 0.5948888680025214,
+                        "xyz": [
+                            -0.40643677922006477,
+                            -0.2822031712969686,
+                            0.6334648761642846
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cap",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cap to pull it off the marker",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the cap to guide it back onto the marker for storage",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "briefly pinch the cap end to reorient the marker",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "cover the writing tip",
+                "seal the marker",
+                "prevent ink drying",
+                "protect the tip"
+            ],
+            "semantic_description": "Small cap piece at one end of the marker, visible in the RGB views as a blue plastic end cap. It is short, smooth, and slightly rounded/cylindrical, attached over the writing end.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Cap color and visual description mismatch; masked blue part is not visibly blue in RGB images."
+    }
+}

dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:493164e45c360ce4ee6c8b26e53a9146ad5f8fb924338730bfdd45fd15997679
+size 3781032

dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/marker_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>