Add asset desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17

.gitattributes

@@ -6595,3 +6595,4 @@ dataset/desktop_supplies/office_tools/80ac87d3871a541495eff867259c5b0e/affordanc
 dataset/desktop_supplies/office_tools/836326f6fd4f5ab680f8eb9a2c99300b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/846bb3477c7c5352bad92296c3fc654f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/affordance/affordance_annot.json

@@ -0,0 +1,229 @@
+{
+    "affordances": [
+        {
+            "part_name": "sticky note pad",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pad from the sides to pick it up and relocate it",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "pinch the pad near one edge to stabilize it while dispensing a note",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the pad body to place it into a dispenser or organizer",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "provide writable note sheets",
+                "stack and dispense notes",
+                "offer a graspable body for pickup",
+                "support temporary paper adhesion"
+            ],
+            "semantic_description": "Compact square pad of thin pastel paper sheets with a pale yellow top, multicolored sheet edges, matte smooth slightly papery surfaces, and a blocky stacked shape sized to fit on a desk.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9889476299285889,
+                    "position": [
+                        0.11172594220988685,
+                        0.007348581217229366,
+                        0.0035554331388993887
+                    ],
+                    "orientation": {
+                        "w": 0.01887479111369222,
+                        "xyz": [
+                            0.7175743126176646,
+                            0.017019602686499047,
+                            -0.6960180897477406
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9883440732955933,
+                    "position": [
+                        0.11318017633311683,
+                        0.002105934312567115,
+                        0.0019168697890563635
+                    ],
+                    "orientation": {
+                        "w": 0.008513185864902616,
+                        "xyz": [
+                            0.7186891179085081,
+                            -0.001984360992348111,
+                            -0.6952765922837992
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9882064461708069,
+                    "position": [
+                        0.10863777341000969,
+                        -0.011714712250977755,
+                        0.0019268586893304018
+                    ],
+                    "orientation": {
+                        "w": 0.01769946835383801,
+                        "xyz": [
+                            -0.7120310707921841,
+                            0.005657859439201496,
+                            0.7019020385161261
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9879373908042908,
+                    "position": [
+                        0.11393126936309272,
+                        -0.0028983401134610176,
+                        0.0014735377753822831
+                    ],
+                    "orientation": {
+                        "w": 0.014250585866154094,
+                        "xyz": [
+                            -0.7073430508561921,
+                            0.014760490122325165,
+                            0.7065726127860281
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9874649047851562,
+                    "position": [
+                        0.10877517701737816,
+                        -0.005637735594063997,
+                        0.0008204783207474975
+                    ],
+                    "orientation": {
+                        "w": 0.011514007849839197,
+                        "xyz": [
+                            -0.7119708669404883,
+                            0.001481643063907856,
+                            0.7021130371849496
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9873844385147095,
+                    "position": [
+                        0.10956487150542671,
+                        -0.005845770239830017,
+                        0.0007854122795833973
+                    ],
+                    "orientation": {
+                        "w": 0.019473471771424222,
+                        "xyz": [
+                            -0.7117511466153285,
+                            0.0016074030513582027,
+                            0.7021598859550173
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9872658252716064,
+                    "position": [
+                        0.11281994076125557,
+                        -0.006007859017699957,
+                        0.002703873686186853
+                    ],
+                    "orientation": {
+                        "w": 0.0003715313143325009,
+                        "xyz": [
+                            0.7150504940816038,
+                            -0.009824215644886891,
+                            -0.6990036750011401
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9872305989265442,
+                    "position": [
+                        0.10788266451709205,
+                        0.005077812820672989,
+                        0.0011785992082877783
+                    ],
+                    "orientation": {
+                        "w": 0.013010209625339997,
+                        "xyz": [
+                            0.7098744416577941,
+                            0.0008804411746403673,
+                            -0.7042075236390748
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9871652126312256,
+                    "position": [
+                        0.10887181849830085,
+                        0.021021966356784105,
+                        -0.0005283082591631683
+                    ],
+                    "orientation": {
+                        "w": 0.7085284062234537,
+                        "xyz": [
+                            0.05210574872556386,
+                            -0.7013377548837129,
+                            0.058291012162030496
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9870973825454712,
+                    "position": [
+                        0.10623112411849434,
+                        -0.025796446483582258,
+                        0.0032540762458665995
+                    ],
+                    "orientation": {
+                        "w": 0.0731766606801513,
+                        "xyz": [
+                            -0.7107385334070363,
+                            0.04838751869651836,
+                            0.6979645847007651
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9869720339775085,
+                    "position": [
+                        0.10969273091905052,
+                        0.00027305580442771316,
+                        -0.002943243818663177
+                    ],
+                    "orientation": {
+                        "w": 0.012342809976322448,
+                        "xyz": [
+                            -0.7008817321113224,
+                            0.005531728779363032,
+                            0.7131492498847859
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9863649606704712,
+                    "position": [
+                        0.10684309990756446,
+                        -0.008317334111779928,
+                        0.0005753021814598469
+                    ],
+                    "orientation": {
+                        "w": 0.008349635259374974,
+                        "xyz": [
+                            -0.7104235838761546,
+                            -0.00038801857207027,
+                            0.7037247078973311
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c1e25d693938d52bbb81d3ccfd2d8e672ea02eecb40e942ef6b56e756fd6ca3
+size 3777020

dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/sticky_notes_013.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>