Add asset desktop_supplies/office_stationery/f58b794c3b165191bd6cd85755cf87ea

.gitattributes

@@ -8628,3 +8628,4 @@ dataset/desktop_supplies/office_stationery/f2fd29c97f43540db1691502d4c89199/affo
 dataset/desktop_supplies/office_stationery/f3a13eb8170857009ed274c7bd71cffe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f58b794c3b165191bd6cd85755cf87ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/f58b794c3b165191bd6cd85755cf87ea/affordance/affordance_annot.json

@@ -0,0 +1,166 @@
+{
+    "affordances": [
+        {
+            "part_name": "front cover",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the notebook by the front cover edge to pick it up from a table",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the front cover to open or flip the notebook",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch the cover corner to reorient the notebook",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "cover the pages",
+                "protect the paper stack",
+                "provide a surface to open the notebook",
+                "support handling and orientation"
+            ],
+            "semantic_description": "Large dark gray to black cover panel, likely thin cardstock or plastic-coated board, with a matte smooth hard surface and flat rectangular shape forming one outer face of the notebook.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.027627702802419662,
+                    "position": [
+                        0.014458856981946155,
+                        0.05306401039706543,
+                        0.10584317125903908
+                    ],
+                    "orientation": {
+                        "w": 0.09864730222745102,
+                        "xyz": [
+                            0.9899888913905253,
+                            -0.007442282045718951,
+                            0.10067431213848275
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "back cover",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the notebook by the back cover edge to lift or slide it",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the back cover to stabilize the notebook while opening pages",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "pinch a back cover corner to reposition the notebook",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the pages",
+                "protect the paper stack",
+                "provide rear support",
+                "stabilize the notebook during use"
+            ],
+            "semantic_description": "Large dark gray to black rear cover panel, likely thin cardstock or plastic-coated board, with a matte smooth hard surface and flat rectangular shape on the opposite side from the front cover.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "page stack",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the page block edge to flip or separate pages",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "grasp the notebook along the paper edge when picking it up",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "provide writing pages",
+                "store notes",
+                "present page edges for flipping",
+                "fill the notebook interior"
+            ],
+            "semantic_description": "Thin white paper stack visible along the outer edge, with a matte smooth slightly layered texture and rectangular sheet profile sandwiched between the two covers.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spiral binding",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the spiral binding to pull the notebook from a shelf or pile",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the binding to stabilize the notebook while turning pages",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "pinch the binding to carry the small notebook briefly",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "bind the covers and pages",
+                "act as a hinge for page turning",
+                "keep pages aligned",
+                "allow notebook opening and folding"
+            ],
+            "semantic_description": "Small coil binding along one short edge, appearing translucent white in the RGB views, likely plastic with a slightly glossy smooth finish and repeating looped cylindrical shape.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_48": {
+                    "confidence": 0.9797476530075073,
+                    "position": [
+                        -0.148127155873226,
+                        -0.006083200860302895,
+                        0.0042072900250786915
+                    ],
+                    "orientation": {
+                        "w": 0.17760031790864858,
+                        "xyz": [
+                            -0.6754970306198304,
+                            -0.19720656814000426,
+                            -0.6879472786376737
+                        ]
+                    }
+                },
+                "grasp_63": {
+                    "confidence": 0.9684717655181885,
+                    "position": [
+                        -0.14527985689346679,
+                        0.033045488700736314,
+                        -0.011141530456370674
+                    ],
+                    "orientation": {
+                        "w": 0.7006701884905512,
+                        "xyz": [
+                            0.19682834947044608,
+                            0.6615655227432603,
+                            -0.18069573022844904
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/f58b794c3b165191bd6cd85755cf87ea/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96482ad41fc108e81231060bdfc12c21557b85d92b84f1f2f795384b3e5d3f15
+size 597756

dataset/desktop_supplies/office_stationery/f58b794c3b165191bd6cd85755cf87ea/f58b794c3b165191bd6cd85755cf87ea.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>