Add asset desktop_supplies/office_tools/c72e5112749c56d1be9a4bcc04a7d579

.gitattributes

@@ -6654,4 +6654,4 @@ dataset/desktop_supplies/office_tools/c508c8540f70585ca5f05f1e96506c89/affordanc
 dataset/desktop_supplies/office_tools/c61a63061046589ab89b6f887268f978/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/c72407ae431d54c7ad70806f6815d1be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/c72e5112749c56d1be9a4bcc04a7d579/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/c72e5112749c56d1be9a4bcc04a7d579/affordance/affordance_annot.json

@@ -0,0 +1,173 @@
+{
+    "affordances": [
+        {
+            "part_name": "sticky note pad body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pad from the sides to pick up the sticky note stack",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the pad body to reposition it on a desk",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "stabilize the pad body while peeling off a top sheet",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "support the note stack",
+                "provide the main grasp surface",
+                "store stacked sheets",
+                "stabilize during sheet removal"
+            ],
+            "semantic_description": "Compact block of pale yellow paper sheets with matte surfaces, visible layered edges, and a square stack shape forming most of the object below the top note.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.6496288776397705,
+                    "position": [
+                        0.11362336773891002,
+                        0.0020584578160196543,
+                        -0.030907319393008947
+                    ],
+                    "orientation": {
+                        "w": 0.4904736318509733,
+                        "xyz": [
+                            -0.5027556524430445,
+                            -0.5039102493982445,
+                            0.5027393270342826
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.623457670211792,
+                    "position": [
+                        -0.12506191979628056,
+                        -0.03445918834768236,
+                        -0.005388862919062376
+                    ],
+                    "orientation": {
+                        "w": 0.6909171513706969,
+                        "xyz": [
+                            0.035572706706539454,
+                            0.7220127430944893,
+                            0.008103782360308651
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.6229307055473328,
+                    "position": [
+                        0.11832196463365108,
+                        0.0011893992777913809,
+                        -0.030641721095889807
+                    ],
+                    "orientation": {
+                        "w": 0.5131807488110032,
+                        "xyz": [
+                            -0.49584058704647055,
+                            -0.5112369444341166,
+                            0.4789826906401285
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.618193507194519,
+                    "position": [
+                        0.02651697036344558,
+                        -0.0024015214294195175,
+                        -0.12329832976683974
+                    ],
+                    "orientation": {
+                        "w": 0.7102620820682705,
+                        "xyz": [
+                            -0.008140645921760222,
+                            0.003799369036529221,
+                            0.703880010694256
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.6169226169586182,
+                    "position": [
+                        0.02819957595784217,
+                        0.005481632659211755,
+                        -0.13276528334245086
+                    ],
+                    "orientation": {
+                        "w": 0.7137515986586206,
+                        "xyz": [
+                            0.0008085235552538603,
+                            0.0009633989651578467,
+                            -0.7003977966586978
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.6117193698883057,
+                    "position": [
+                        0.027691407245583832,
+                        0.004046024056151509,
+                        -0.12563198572024703
+                    ],
+                    "orientation": {
+                        "w": 0.6901091897884397,
+                        "xyz": [
+                            -0.019081001617670932,
+                            -0.017970759200962916,
+                            0.7232304427777848
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.6110287308692932,
+                    "position": [
+                        0.018740529310889542,
+                        0.0035778104793280363,
+                        -0.1256301454268396
+                    ],
+                    "orientation": {
+                        "w": 0.6730376907163973,
+                        "xyz": [
+                            0.03465258293514469,
+                            -0.03381629903177963,
+                            -0.7380216279289212
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top sticky note sheet",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the free edge or corner of the top sheet to peel off one sticky note",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "delicately grasp the top sheet to lift or align it before removal",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "provide a writable surface",
+                "peel away as a single sticky note",
+                "cover the stack",
+                "present the next note for use"
+            ],
+            "semantic_description": "Square pale yellow top paper sheet with a matte smooth finish, lying flat on the top of the stack.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/c72e5112749c56d1be9a4bcc04a7d579/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9e29dde1925a2e3f94d0cebb3bd6871a43c9683e111510b17bc5908c08e387d
+size 3780152

dataset/desktop_supplies/office_tools/c72e5112749c56d1be9a4bcc04a7d579/sticky_notes_003.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>