Add asset desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86

.gitattributes

@@ -6323,3 +6323,4 @@ dataset/desktop_supplies/office_stationery/4603e7559d7a53aa8865f0e465ad428e/affo
 dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/476422810f315b16828845719d2fc9fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/481287f79a065a62a8bf2ffc31c00cff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/affordance/affordance_annot.json

@@ -0,0 +1,285 @@
+{
+    "affordances": [
+        {
+            "part_name": "marker barrel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the barrel at the center to pick up and move the marker",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the barrel to orient the marker for placement or handling",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "stabilize the marker by the barrel while pulling off the cap",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain ink reservoir",
+                "support writing assembly",
+                "provide structural body"
+            ],
+            "semantic_description": "Long cylindrical yellow plastic body with a smooth slightly glossy hard surface, medium thickness, running along most of the marker, with black printed branding visible on one side.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.9890716075897217,
+                    "position": [
+                        0.07231085822968453,
+                        -0.01543849240988493,
+                        0.0649212781645474
+                    ],
+                    "orientation": {
+                        "w": 0.07801877319925665,
+                        "xyz": [
+                            0.905955413564325,
+                            0.031312622391583333,
+                            -0.4149426217453906
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9886122345924377,
+                    "position": [
+                        0.08674302772669762,
+                        0.008510073646903038,
+                        0.04334234784619184
+                    ],
+                    "orientation": {
+                        "w": 0.5292087874156897,
+                        "xyz": [
+                            0.013091817318334618,
+                            -0.8483681943171575,
+                            0.006170130660212884
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9885618686676025,
+                    "position": [
+                        0.07578077987818688,
+                        0.024481376633048058,
+                        0.05141454155818792
+                    ],
+                    "orientation": {
+                        "w": 0.4603391225124718,
+                        "xyz": [
+                            0.09505495006516192,
+                            -0.8670740595350949,
+                            0.16503037306474447
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9884823560714722,
+                    "position": [
+                        0.06361986027150124,
+                        -0.006672404051641934,
+                        0.07406629215256544
+                    ],
+                    "orientation": {
+                        "w": 0.3706673197953264,
+                        "xyz": [
+                            0.005400821976345902,
+                            -0.9287426912780402,
+                            -0.0036854518518107293
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.9881954193115234,
+                    "position": [
+                        -0.0937666959962371,
+                        -0.012829778715968132,
+                        0.024081999094050843
+                    ],
+                    "orientation": {
+                        "w": 0.03583767906637587,
+                        "xyz": [
+                            0.7948304809745812,
+                            -0.015732356540677284,
+                            0.6055680475640439
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.9881559610366821,
+                    "position": [
+                        0.04718760103969544,
+                        -0.04404529742896557,
+                        0.07887249033228727
+                    ],
+                    "orientation": {
+                        "w": 0.2642786522359389,
+                        "xyz": [
+                            -0.047275981963462006,
+                            -0.9470547567433172,
+                            -0.176093904583897
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9876118302345276,
+                    "position": [
+                        0.09485295490412682,
+                        -0.018386769108474255,
+                        0.026955974877637345
+                    ],
+                    "orientation": {
+                        "w": 0.0007074637208093121,
+                        "xyz": [
+                            0.8026945291284129,
+                            0.018857177036476824,
+                            -0.5960917708512796
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9876042604446411,
+                    "position": [
+                        0.049274162212896044,
+                        -0.05799541063606739,
+                        0.06682394783274503
+                    ],
+                    "orientation": {
+                        "w": 0.2953452625908047,
+                        "xyz": [
+                            -0.07540622578904961,
+                            -0.912858046821871,
+                            -0.2716160218580237
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cap",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cap to pull it off the marker",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the cap to reattach it after use",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the capped end to pick up the whole marker when convenient",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "cover the writing tip",
+                "prevent ink from drying",
+                "enable uncapping",
+                "protect the tip"
+            ],
+            "semantic_description": "Short black plastic cap with a slightly tapered cylindrical form, ribbed sides, matte to low-gloss finish, mounted on one end of the marker.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9901159405708313,
+                    "position": [
+                        0.03860481158881157,
+                        0.0015104962512850761,
+                        0.08509759943262907
+                    ],
+                    "orientation": {
+                        "w": 0.09475295623698449,
+                        "xyz": [
+                            -0.9734174706683849,
+                            0.029262890619468823,
+                            0.20645577810879834
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9874881505966187,
+                    "position": [
+                        0.03527763188867539,
+                        -0.02982020378112793,
+                        0.07902083139197202
+                    ],
+                    "orientation": {
+                        "w": 0.2595831467410717,
+                        "xyz": [
+                            -0.9433779283797982,
+                            0.05741682844451451,
+                            0.19838846232887772
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9873649477958679,
+                    "position": [
+                        -0.07234609051556617,
+                        -0.008589019300416112,
+                        0.05545658956543775
+                    ],
+                    "orientation": {
+                        "w": 0.4339179087745988,
+                        "xyz": [
+                            -0.09319372583735941,
+                            0.8819472149990503,
+                            0.15874283563250635
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.986968457698822,
+                    "position": [
+                        0.06843219772963494,
+                        0.013435948640108109,
+                        0.06994056294934126
+                    ],
+                    "orientation": {
+                        "w": 0.38509573657954577,
+                        "xyz": [
+                            0.008739071124358466,
+                            -0.9227514052128469,
+                            -0.01243971389770602
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rear end plug",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the rear end of the barrel",
+                "finish the back end of the marker body",
+                "retain internal components"
+            ],
+            "semantic_description": "Small circular blue-toned end piece visible at the back of the yellow barrel in some views, appearing slightly recessed within the end opening.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "barrel branding print",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display branding",
+                "provide visual identification"
+            ],
+            "semantic_description": "Small black printed logo/text area on the yellow barrel near the middle of the outer surface, visible as branding rather than a separate structural component.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Branding print is not a segmented physical part; rear end plug color/description mismatches visible yellow end opening."
+    }
+}

dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7c5b769f6272dc91c0ff415834c530cf97564a056191043f16455ada319c10f
+size 3780692

dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/marker_021.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>YES</PartSegChecker>