Add asset desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa

.gitattributes

@@ -8192,3 +8192,4 @@ dataset/desktop_supplies/office_stationery/1d76b5ae66e15305a57d3e2cc29df7c0/affo
 dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1e7cfd9a38ca56a891842b62f92cebfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/affordance/affordance_annot.json

@@ -0,0 +1,150 @@
+{
+    "affordances": [
+        {
+            "part_name": "eraser body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the eraser body from the sides to pick it up from a desk",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the eraser body while rubbing to erase pencil marks",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pinch one end of the eraser body to reposition or orient it precisely",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "erase pencil marks",
+                "provide main grasp surface",
+                "support rubbing against paper",
+                "stabilize the eraser during use",
+                "protect the eraser core with a sleeve"
+            ],
+            "semantic_description": "Rectangular white eraser block partly wrapped in a blue-and-white printed paper sleeve, with a matte smooth rubber surface on the exposed ends and flat broad faces sized for hand or gripper contact.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9080735445022583,
+                    "position": [
+                        0.10432861209847033,
+                        -0.009397429188538808,
+                        -0.0014674822814413346
+                    ],
+                    "orientation": {
+                        "w": 0.6976305140451692,
+                        "xyz": [
+                            -0.03238297381951372,
+                            -0.7151787941187108,
+                            -0.027969650026133587
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9077774286270142,
+                    "position": [
+                        0.10549953789450228,
+                        -0.004222465453494806,
+                        -0.0011527112001203932
+                    ],
+                    "orientation": {
+                        "w": 0.03268454040353823,
+                        "xyz": [
+                            -0.7121651043232267,
+                            0.009589893510228653,
+                            0.701185153112471
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9019033908843994,
+                    "position": [
+                        0.10033593536354601,
+                        0.019632995354186278,
+                        -3.8389260225812905e-05
+                    ],
+                    "orientation": {
+                        "w": 0.08595654524498171,
+                        "xyz": [
+                            0.7188988049214485,
+                            0.0277761153334809,
+                            -0.6892201883498781
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9014763832092285,
+                    "position": [
+                        0.09941005916334689,
+                        -0.0040834078172338195,
+                        -0.005298520532960538
+                    ],
+                    "orientation": {
+                        "w": 0.7086791507564452,
+                        "xyz": [
+                            -0.020123488173307127,
+                            -0.7049629943758323,
+                            -0.019901835782743096
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8985090255737305,
+                    "position": [
+                        0.09002480865456164,
+                        0.048847889753233176,
+                        -0.0071993438541539945
+                    ],
+                    "orientation": {
+                        "w": 0.6935435876956144,
+                        "xyz": [
+                            0.1298181867217005,
+                            -0.6799364811381184,
+                            0.19957683227293094
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8968555927276611,
+                    "position": [
+                        0.08759340108372271,
+                        0.04883339092339156,
+                        -0.003141877801681403
+                    ],
+                    "orientation": {
+                        "w": 0.18521551993393798,
+                        "xyz": [
+                            0.6900819168121242,
+                            0.15167710647326582,
+                            -0.6829906402260597
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8965122103691101,
+                    "position": [
+                        0.09186961711384356,
+                        0.046043543370615225,
+                        -0.010196218361670617
+                    ],
+                    "orientation": {
+                        "w": 0.7031588624354544,
+                        "xyz": [
+                            0.12440337057248069,
+                            -0.6694439639542049,
+                            0.20478328714513147
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c0716c1b1aa63c88a5457ff5aa001e2d84333e4de5e6ef087bd3ff0cf1bee7f
+size 3777008

dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/eraser_020.urdf

@@ -58,6 +58,7 @@
                <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>