Add asset desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6

.gitattributes

@@ -6489,3 +6489,4 @@ dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/affo
 dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c203ad33d8915fe5baeb65e548c7685d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/affordance/affordance_annot.json

@@ -0,0 +1,243 @@
+{
+    "affordances": [
+        {
+            "part_name": "eraser body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rectangular eraser to pick it up and reposition it on a desk",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the eraser body while rubbing an edge or face against paper to erase pencil marks",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "pinch the eraser from the sides to stabilize its orientation for precise erasing",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "erase pencil marks",
+                "provide the main grasp surface",
+                "support rubbing contact with paper",
+                "form the main structure of the object"
+            ],
+            "semantic_description": "Small rectangular block eraser with a white rubber body and a blue paper sleeve around the middle. The exposed ends are white, the sleeve is smooth and printed with pink flower graphics and text, and the block has slightly rounded edges.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9894228577613831,
+                    "position": [
+                        -0.0005993168088025413,
+                        -0.1176254196325317,
+                        -0.0030776739440625533
+                    ],
+                    "orientation": {
+                        "w": 0.7080969179703144,
+                        "xyz": [
+                            -0.7058859550024116,
+                            -0.01425496473977117,
+                            -0.010980403979044371
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9892776012420654,
+                    "position": [
+                        -0.0006598431718884967,
+                        -0.1191294906893745,
+                        -0.0006980058242334053
+                    ],
+                    "orientation": {
+                        "w": 0.7052202080426256,
+                        "xyz": [
+                            -0.7079262652401425,
+                            -0.02207827039899568,
+                            -0.03189688272618414
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9863459467887878,
+                    "position": [
+                        -0.021176627509703394,
+                        -0.1114625675836578,
+                        0.027768182349973358
+                    ],
+                    "orientation": {
+                        "w": 0.5775040767771643,
+                        "xyz": [
+                            -0.8119342805738272,
+                            0.043480291070699395,
+                            -0.07322041807599934
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9856723546981812,
+                    "position": [
+                        -0.005711966798116919,
+                        -0.10245266242418438,
+                        0.05178218778746668
+                    ],
+                    "orientation": {
+                        "w": 0.49196506247401023,
+                        "xyz": [
+                            -0.8695936806094396,
+                            -0.008255972088917651,
+                            -0.04134062014457749
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9854403138160706,
+                    "position": [
+                        -0.004641125582566019,
+                        0.10557149664964527,
+                        0.052686516908579506
+                    ],
+                    "orientation": {
+                        "w": 0.07170676363292022,
+                        "xyz": [
+                            0.054626875185674995,
+                            0.8611145137431679,
+                            -0.5003557122464061
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9849574565887451,
+                    "position": [
+                        0.003358416819537524,
+                        -0.11767812503967434,
+                        -0.003972546648583375
+                    ],
+                    "orientation": {
+                        "w": 0.7070970849160233,
+                        "xyz": [
+                            -0.7067332801137323,
+                            -0.017769712548227456,
+                            -0.015033981472016743
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9847691059112549,
+                    "position": [
+                        0.008239833965490106,
+                        0.114055554731749,
+                        -0.0399963215313619
+                    ],
+                    "orientation": {
+                        "w": 0.06001995031288789,
+                        "xyz": [
+                            -0.014325285346087338,
+                            -0.5363860641785283,
+                            0.8417139549272421
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9846584796905518,
+                    "position": [
+                        -0.0005199507213546894,
+                        -0.10585747344885021,
+                        0.057206437704735436
+                    ],
+                    "orientation": {
+                        "w": 0.47924997830096544,
+                        "xyz": [
+                            -0.8776174674519953,
+                            -0.006504133785679045,
+                            -0.008045829066547197
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9840295910835266,
+                    "position": [
+                        -0.008229763850977179,
+                        -0.09601498080883175,
+                        0.05707848888414446
+                    ],
+                    "orientation": {
+                        "w": 0.47453150601201055,
+                        "xyz": [
+                            -0.8795777421714247,
+                            0.005437964340818835,
+                            -0.03366413258083767
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.983893632888794,
+                    "position": [
+                        -0.003930447761376854,
+                        -0.10671567602548748,
+                        0.046568323639803566
+                    ],
+                    "orientation": {
+                        "w": 0.5052295753498675,
+                        "xyz": [
+                            -0.862158944810968,
+                            -0.010885766416350418,
+                            -0.03614595639569686
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9838910698890686,
+                    "position": [
+                        0.0009525956484139897,
+                        -0.10526547266636044,
+                        0.05524902117031161
+                    ],
+                    "orientation": {
+                        "w": 0.4803329145383952,
+                        "xyz": [
+                            -0.8770832139773629,
+                            0.00228722418562588,
+                            -0.0003091532225397966
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.983889102935791,
+                    "position": [
+                        -0.0009302286416641437,
+                        -0.12210213078651577,
+                        0.0009130510879913345
+                    ],
+                    "orientation": {
+                        "w": 0.7155177417486601,
+                        "xyz": [
+                            -0.6979724322387899,
+                            -0.015647724504475602,
+                            -0.024979867801825612
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "flower print",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the sleeve",
+                "provide visual identification",
+                "serve as a printed graphic on the wrapper"
+            ],
+            "semantic_description": "Pink flower graphic printed flat on the blue paper sleeve, smooth with no separate thickness, located on the broad face and visible as a decorative marking.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Main part description misidentifies mask extent; green mask covers entire eraser including sleeve, not just eraser body."
+    }
+}

dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a0fa52ad297c5a9eb7bc98b3d49e653926bf7c2419726da6548e2237d6c3f65
+size 3782164

dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/eraser_028.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":"Decoration is segmented instead of physical parts; eraser body and sleeve are merged.","merge_groups":[]}</PartSegChecker>