Add asset desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef

.gitattributes

@@ -6623,3 +6623,4 @@ dataset/desktop_supplies/office_tools/a1e8baec13885edea3e8d0bf6f88f9b8/affordanc
 dataset/desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/affordance/affordance_annot.json

@@ -0,0 +1,165 @@
+{
+    "affordances": [
+        {
+            "part_name": "cookie-shaped sticky note pad",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sides of the pad to pick up and move the note pad",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "pinch an edge or corner of the pad to reposition it on a desk",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the pad along the edge to stabilize it while peeling off a sheet",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main body of the sticky note pad",
+                "stack multiple note sheets together",
+                "provide a writable note surface",
+                "allow pickup and repositioning"
+            ],
+            "semantic_description": "A flat rectangular sticky note pad with scalloped cookie-like edges, a light pink front face, tan cookie-brown border and side thickness, smooth matte paper-like surfaces, and printed decorations including sprinkles, small cookie graphics, a cartoon girl, and the word 'cookie' on top.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9605268836021423,
+                    "position": [
+                        0.07970914090401493,
+                        -0.08181804843479767,
+                        -0.002739057585131377
+                    ],
+                    "orientation": {
+                        "w": 0.22772006416190424,
+                        "xyz": [
+                            -0.6793573755288277,
+                            0.2060556162129793,
+                            0.6664519575481576
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9864375591278076,
+                    "position": [
+                        -0.003240134014049545,
+                        -0.11942880280548707,
+                        -0.001276051567401737
+                    ],
+                    "orientation": {
+                        "w": 0.4891442439609298,
+                        "xyz": [
+                            -0.4824610396140233,
+                            0.5138397892291753,
+                            0.5137488928059725
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9664685726165771,
+                    "position": [
+                        0.08259425158030353,
+                        -0.08046710171038285,
+                        -0.004776992544066161
+                    ],
+                    "orientation": {
+                        "w": 0.2212475875954165,
+                        "xyz": [
+                            -0.6718834472227844,
+                            0.20457754626186742,
+                            0.6765871458258058
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9869642853736877,
+                    "position": [
+                        0.001399152068188414,
+                        -0.118726585584227,
+                        -0.0036942061851732433
+                    ],
+                    "orientation": {
+                        "w": 0.49490884746088676,
+                        "xyz": [
+                            -0.4969165256632636,
+                            0.48980070890997585,
+                            0.5179135688307197
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9852247834205627,
+                    "position": [
+                        -0.0008873090264387429,
+                        -0.11929668911034241,
+                        0.0003240721271140501
+                    ],
+                    "orientation": {
+                        "w": 0.5192040250113006,
+                        "xyz": [
+                            -0.5016932215415951,
+                            -0.4938748102669043,
+                            -0.48458101866985076
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9834616184234619,
+                    "position": [
+                        0.04331146026379429,
+                        -0.10812092252308503,
+                        -0.0062173737096600235
+                    ],
+                    "orientation": {
+                        "w": 0.6208660103033367,
+                        "xyz": [
+                            -0.36973681429895067,
+                            -0.5868032031278512,
+                            -0.3653520031435088
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9828808307647705,
+                    "position": [
+                        0.038901945896213874,
+                        -0.10960349120432511,
+                        0.010679379396606237
+                    ],
+                    "orientation": {
+                        "w": 0.33861867232950865,
+                        "xyz": [
+                            -0.6150032115384,
+                            0.42295192206807386,
+                            0.5729049800500751
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9797903299331665,
+                    "position": [
+                        -0.05142804761999287,
+                        -0.1059884024434723,
+                        -0.0022302797879092395
+                    ],
+                    "orientation": {
+                        "w": 0.6073923327751337,
+                        "xyz": [
+                            -0.3490305104179932,
+                            0.6160724983166525,
+                            0.3601484884061216
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7de0077d0ff292b93baaf00b42a4a0c819264bb47cfaf2df27ae31254438563f
+size 3802508

dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/sticky_notes_027.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>