Add asset desktop_supplies/office_stationery/bc167e95096955a98fc85bf880fbace6

.gitattributes

@@ -6479,3 +6479,4 @@ dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/affo
 dataset/desktop_supplies/office_stationery/b97b8deda7a0524aac5f7c0d9b6dbea9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ba53185544755f60afef8816707c2da2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/bc167e95096955a98fc85bf880fbace6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/bc167e95096955a98fc85bf880fbace6/affordance/affordance_annot.json

@@ -0,0 +1,201 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper body housing",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main upper housing to pick up and reposition the pencil sharpener",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the upper housing steady while inserting and turning a pencil in the sharpener opening",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support the blade assembly",
+                "provide overall structure",
+                "form the upper shavings enclosure"
+            ],
+            "semantic_description": "Large rounded light pink plastic upper housing with a smooth glossy finish, forming most of the animal-themed sharpener body. It includes the top opening area and visible facial decoration on the front, with small ear-like protrusions near the top.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.9640828371047974,
+                    "position": [
+                        0.0028167124837636948,
+                        -0.005730877863243222,
+                        0.12448300863616168
+                    ],
+                    "orientation": {
+                        "w": 0.019625675831312743,
+                        "xyz": [
+                            -0.7327661219031613,
+                            0.6799392538049482,
+                            0.018741786850121758
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.960253119468689,
+                    "position": [
+                        -0.030028396053239703,
+                        -0.005908254534006119,
+                        0.11964451218955219
+                    ],
+                    "orientation": {
+                        "w": 0.09515680133016327,
+                        "xyz": [
+                            -0.6970864126122408,
+                            0.7097422898316035,
+                            -0.035799420897558096
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9588552117347717,
+                    "position": [
+                        0.11568625015206635,
+                        -0.0011643166653811932,
+                        -0.0006767150480300188
+                    ],
+                    "orientation": {
+                        "w": 0.5037338582184738,
+                        "xyz": [
+                            0.4910050642829666,
+                            -0.49437540341326636,
+                            -0.5106458532415407
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.9587211608886719,
+                    "position": [
+                        0.11563708377070725,
+                        -0.001103753224015236,
+                        -0.004214110551401973
+                    ],
+                    "orientation": {
+                        "w": 0.5208650523104699,
+                        "xyz": [
+                            0.4754429489912035,
+                            -0.48918166646119476,
+                            -0.5131811539158541
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9573332667350769,
+                    "position": [
+                        0.11594305676408112,
+                        0.002445010468363762,
+                        0.0033663330832496285
+                    ],
+                    "orientation": {
+                        "w": 0.5111991949892029,
+                        "xyz": [
+                            0.5037235170642371,
+                            -0.4825630463324402,
+                            -0.5020666367258246
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9567108154296875,
+                    "position": [
+                        0.11738153290934861,
+                        0.008555043954402208,
+                        0.008492609253153205
+                    ],
+                    "orientation": {
+                        "w": 0.47487174102196644,
+                        "xyz": [
+                            -0.49481269097521874,
+                            -0.5120910488303125,
+                            0.5171266654664987
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.956437349319458,
+                    "position": [
+                        -0.014586343197152019,
+                        0.004883079323917627,
+                        0.12210388178937137
+                    ],
+                    "orientation": {
+                        "w": 0.012865264764486456,
+                        "xyz": [
+                            0.6995994260362275,
+                            0.714193385040877,
+                            0.017970442848580955
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom cap",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom cap to pull or twist it off for emptying collected shavings",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the bottom cap briefly while opening or reattaching it during maintenance",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "cover the shavings compartment",
+                "detach for emptying",
+                "close the bottom opening",
+                "form the base of the sharpener"
+            ],
+            "semantic_description": "Rounded light pink plastic lower cap with a smooth glossy finish, attached around the bottom portion of the sharpener and forming the removable base/shavings container.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9497693777084351,
+                    "position": [
+                        0.012863092357292771,
+                        -0.0020962049020454288,
+                        -0.12472535227425396
+                    ],
+                    "orientation": {
+                        "w": 0.7685937445752778,
+                        "xyz": [
+                            0.014680496621219733,
+                            -0.025478887279718254,
+                            -0.6390610026606962
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pencil insertion opening",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide pencil insertion",
+                "provide entry to the cutter",
+                "position the pencil for sharpening",
+                "define sharpening axis"
+            ],
+            "semantic_description": "Small oval opening on the top of the housing with a smooth rim, revealing the metal sharpener mechanism inside near the top center of the object.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/bc167e95096955a98fc85bf880fbace6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:072c26940e8a2c7cc557b32f5b107b8449a7332a6c361a13be7857a11ae95fa4
+size 3781112

dataset/desktop_supplies/office_stationery/bc167e95096955a98fc85bf880fbace6/sharpener_023.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>