Add asset desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f

.gitattributes

@@ -6428,4 +6428,5 @@ dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/affo
 dataset/desktop_supplies/office_stationery/97965ec0e7bc5541b10df8b5ab201afb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/984eb5298f275f5b939f2733e1518951/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/991c12db24b95ba291785913a221d602/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/affordance/affordance_annot.json

@@ -0,0 +1,82 @@
+{
+    "affordances": [
+        {
+            "part_name": "notebook cover and pages block",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the notebook body from the sides to pick it up",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the notebook body to reposition or stack it",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "stabilize the notebook body while turning pages or writing",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide main body support",
+                "protect the pages",
+                "offer writing surface backing",
+                "contain and organize pages",
+                "main grasp surface"
+            ],
+            "semantic_description": "A compact rectangular spiral notebook body with pink front and back covers, white page edges, and a smooth paperboard-and-paper construction. It is flat and moderately thick with rounded corners, and the front shows black polka dots, a black cat graphic with yellow eyes, a green knitted hat, and printed text.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spiral binding",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the spiral edge to lift or pull the notebook from a surface",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the binding to stabilize the notebook while opening or flipping pages",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "pinch the binding to reorient the notebook",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "bind the pages together",
+                "act as hinge for page turning",
+                "allow notebook opening and folding",
+                "maintain page alignment"
+            ],
+            "semantic_description": "A white spiral coil running along one edge, likely metal, with a smooth slightly glossy finish and repeated looped shape. It is narrow, edge-mounted, and slightly raised from the covers.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.944879412651062,
+                    "position": [
+                        0.06578416284173727,
+                        0.1739171959925443,
+                        0.0013121954398229718
+                    ],
+                    "orientation": {
+                        "w": 0.4894019777380971,
+                        "xyz": [
+                            0.4891251651634454,
+                            0.5151653821168506,
+                            -0.5058131137666071
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6751475582e6410dd413f267f952f629d479234fe86c705b79e956de93fae825
+size 3834788

dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>2</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>