Add asset desktop_supplies/office_stationery/7f379a3e5c5e5e7396e2c39aa9e7fdbf

.gitattributes

@@ -6382,3 +6382,4 @@ dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/affo
 dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/7d6e90b52dbd5f9085ba359743535b27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/7f2dfe67cfeb5afa826cd0d220eeda36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/7f379a3e5c5e5e7396e2c39aa9e7fdbf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/7f379a3e5c5e5e7396e2c39aa9e7fdbf/affordance/affordance_annot.json

@@ -0,0 +1,148 @@
+{
+    "affordances": [
+        {
+            "part_name": "eraser body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the eraser",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body while rubbing it against paper to erase marks",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the body to stabilize and orient the novelty eraser on a desk",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "erase pencil marks",
+                "provide main grasp surface",
+                "support rubbing contact",
+                "form the main structure",
+                "stabilize the object on a surface"
+            ],
+            "semantic_description": "Large light blue novelty snail-shaped body made of soft matte rubber with a smooth slightly cushioned texture, featuring a rounded spiral shell, broad flat underside, and small printed logo on one side.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.8611836433410645,
+                    "position": [
+                        0.04512469423934817,
+                        -0.030496338615193963,
+                        0.07773754210211337
+                    ],
+                    "orientation": {
+                        "w": 0.2709885563674388,
+                        "xyz": [
+                            -0.7256472936865884,
+                            -0.6255907824397642,
+                            0.09293750808809859
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8519420027732849,
+                    "position": [
+                        -0.0187854771502316,
+                        -0.007437786785885692,
+                        -0.09872352122329175
+                    ],
+                    "orientation": {
+                        "w": 0.1268457611673427,
+                        "xyz": [
+                            -0.09087170350524229,
+                            -0.011195264792792647,
+                            -0.9876877808407634
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8488222360610962,
+                    "position": [
+                        0.0476290020160377,
+                        -0.02659419015981257,
+                        0.08130849362351
+                    ],
+                    "orientation": {
+                        "w": 0.2605854532708799,
+                        "xyz": [
+                            -0.716105429852538,
+                            -0.6390357929713567,
+                            0.10450593371091915
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8486343622207642,
+                    "position": [
+                        -0.0021272499579936266,
+                        -0.06713070743717253,
+                        0.07179159135557711
+                    ],
+                    "orientation": {
+                        "w": 0.34877668034835024,
+                        "xyz": [
+                            -0.9356343521892863,
+                            0.049143298437206884,
+                            0.022980915282712778
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8408687114715576,
+                    "position": [
+                        -0.02705668890848756,
+                        0.07112826383672655,
+                        -0.06500623910687864
+                    ],
+                    "orientation": {
+                        "w": 0.8933019087125832,
+                        "xyz": [
+                            0.42843573126959245,
+                            0.10178578704326646,
+                            0.08996764761806231
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8405800461769104,
+                    "position": [
+                        -0.023294391576200724,
+                        0.06561323232017457,
+                        -0.07669175951741636
+                    ],
+                    "orientation": {
+                        "w": 0.9231051842467106,
+                        "xyz": [
+                            0.3681898549827999,
+                            0.08877231852228651,
+                            0.06657721058116677
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "eye details",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "depict facial features",
+                "provide character styling",
+                "indicate front orientation"
+            ],
+            "semantic_description": "Tiny black-and-white glossy eye details on the snail head, appearing as small smooth rounded markings that decorate the front and help show facing direction.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/7f379a3e5c5e5e7396e2c39aa9e7fdbf/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:257c9dd08e9e361ddc1fca90f67534ffe6d0463f08d2dec44a2d34fe9628d1d4
+size 3777872

dataset/desktop_supplies/office_stationery/7f379a3e5c5e5e7396e2c39aa9e7fdbf/eraser_034.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>NO: {"summary":"Segmentation mostly treats the eraser as one part, with tiny cyan facial spots that are not functional parts.","merge_groups":[{"colors":["Blue","Cyan"],"target_part":"main body","reason":"cyan marks are small decorative/noise fragments"}]}</PartSegChecker>