Add asset desktop_supplies/office_tools/baf2ccd0253959a18bad21b394f796ee

.gitattributes

@@ -6638,3 +6638,4 @@ dataset/desktop_supplies/office_tools/b501c5f9ae3f5c1d9f0e6257652f4229/affordanc
 dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/b97e5eb9ecab5650a9d0c6def70ef307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/baf2ccd0253959a18bad21b394f796ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/baf2ccd0253959a18bad21b394f796ee/affordance/affordance_annot.json

@@ -0,0 +1,118 @@
+{
+    "affordances": [
+        {
+            "part_name": "staples box body",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the box body from the sides to pick up and move the staples box",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pinch the box body to stabilize it while opening or dispensing staples",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the box body to orient it for placement into a stapler-loading task",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain staples",
+                "protect the staple strip",
+                "provide main grasp surface",
+                "support storage and transport",
+                "present printed product information"
+            ],
+            "semantic_description": "Small rectangular white cardboard box with a matte smooth hard surface, black printed text and turquoise label blocks, forming the main outer container around the staples.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9826422929763794,
+                    "position": [
+                        0.11093644850188866,
+                        0.005785347035271116,
+                        0.00013494556333171204
+                    ],
+                    "orientation": {
+                        "w": 0.010057594096730009,
+                        "xyz": [
+                            0.7103282193953984,
+                            -0.00014404053069017042,
+                            -0.7037987246250689
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9820308685302734,
+                    "position": [
+                        0.11139906250173226,
+                        -0.003999255524831824,
+                        0.0007100728325895034
+                    ],
+                    "orientation": {
+                        "w": 0.04018114519529468,
+                        "xyz": [
+                            -0.7065774729962955,
+                            -0.011568269624268823,
+                            0.706399267668692
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9813998937606812,
+                    "position": [
+                        -0.05207623861497268,
+                        0.09202636413101573,
+                        0.0034232688703923486
+                    ],
+                    "orientation": {
+                        "w": 0.3567150935552865,
+                        "xyz": [
+                            0.6065678692301787,
+                            -0.36952454846407345,
+                            0.6068619036731727
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9813960194587708,
+                    "position": [
+                        0.10891046427423134,
+                        -0.0051660890894709155,
+                        0.0038791277547716163
+                    ],
+                    "orientation": {
+                        "w": 0.006097442444278822,
+                        "xyz": [
+                            0.7152525814411852,
+                            -0.02172168660625795,
+                            -0.6985017782857386
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9813351631164551,
+                    "position": [
+                        -0.00228071742458269,
+                        0.10196005187754054,
+                        -0.013483318070939276
+                    ],
+                    "orientation": {
+                        "w": 0.5367067300949787,
+                        "xyz": [
+                            0.4634933166259544,
+                            0.46049471159569433,
+                            -0.5339142739300257
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/baf2ccd0253959a18bad21b394f796ee/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d14e6c65e118319db22e4d11f5a02628d51757af1ca32a86ef4ae7ca8433a2dc
+size 3824312

dataset/desktop_supplies/office_tools/baf2ccd0253959a18bad21b394f796ee/staples_box_016.urdf

@@ -57,6 +57,7 @@
                <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>