Add asset desktop_supplies/office_stationery/b3b0e0ccc05052069882bcf58adf7e67

.gitattributes

@@ -6463,4 +6463,4 @@ dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/affo
 dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b25e4be50e185a99b79c44502bc797c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b3837771a46f511eac30e011616b5483/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b3b0e0ccc05052069882bcf58adf7e67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/b3b0e0ccc05052069882bcf58adf7e67/affordance/affordance_annot.json

@@ -0,0 +1,117 @@
+{
+    "affordances": [
+        {
+            "part_name": "eraser body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the eraser body from the sides to pick it up from a desk",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the eraser body to rub and erase pencil marks",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "pinch one end of the eraser body to reposition or orient it precisely",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "erase pencil marks",
+                "provide the main contact surface for rubbing",
+                "serve as the main grasp surface",
+                "support precise repositioning"
+            ],
+            "semantic_description": "Rectangular block eraser with a soft matte rubber body, smooth slightly rounded edges, a blue lower layer with red and yellow upper sections, and a compact hand-sized form.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.9815178513526917,
+                    "position": [
+                        0.02725239543360658,
+                        0.013148502737749368,
+                        -0.0942187721884693
+                    ],
+                    "orientation": {
+                        "w": 0.06112811230325989,
+                        "xyz": [
+                            0.13899593736092697,
+                            0.04117234270423642,
+                            -0.9875466173703613
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9808135628700256,
+                    "position": [
+                        0.09736994540435262,
+                        0.007248204492498189,
+                        0.0036672027272288688
+                    ],
+                    "orientation": {
+                        "w": 0.017102791184836947,
+                        "xyz": [
+                            -0.7172298043753507,
+                            0.022199188890005384,
+                            0.696273005553145
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9802640676498413,
+                    "position": [
+                        0.09977093225461431,
+                        0.008048716292250901,
+                        0.0034368102860753424
+                    ],
+                    "orientation": {
+                        "w": 0.006733290991913517,
+                        "xyz": [
+                            -0.7057531203009011,
+                            0.02677526556026799,
+                            0.7079196855096891
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9785382151603699,
+                    "position": [
+                        0.00046978363025118597,
+                        0.00791601586388424,
+                        0.09869899199838983
+                    ],
+                    "orientation": {
+                        "w": 0.02806266574477502,
+                        "xyz": [
+                            0.9994042699000745,
+                            0.020073851490816357,
+                            0.0007953509419890532
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9784713387489319,
+                    "position": [
+                        0.09619669502717443,
+                        -0.0010257831308990717,
+                        0.0028620708690141328
+                    ],
+                    "orientation": {
+                        "w": 0.011350224488256557,
+                        "xyz": [
+                            -0.7109465901990664,
+                            0.018235400653120237,
+                            0.7029179101797071
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/b3b0e0ccc05052069882bcf58adf7e67/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a75177f31fde9fd8bd76b87ed632f0fe99edc2975b02ac3bea4130fc0b4cc8c
+size 1464948