Add asset desktop_supplies/office_stationery/b450b967248351339fe9c44705488970

.gitattributes

@@ -6466,3 +6466,4 @@ dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/affo
 dataset/desktop_supplies/office_stationery/b3b0e0ccc05052069882bcf58adf7e67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b450b967248351339fe9c44705488970/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/b450b967248351339fe9c44705488970/affordance/affordance_annot.json

@@ -0,0 +1,181 @@
+{
+    "affordances": [
+        {
+            "part_name": "eagle-shaped eraser",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the central body/base to pick up and move the eraser",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the lower body while pressing an erasing surface against paper",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp around the central body to reorient or place the eraser in storage",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "erase pencil marks",
+                "provide the main grasp area",
+                "support pressing against paper",
+                "serve as a novelty animal-shaped eraser"
+            ],
+            "semantic_description": "A medium-sized novelty eraser shaped like a bald eagle with wide spread brown wings, a white head and tail, a yellow beak, and a brown rectangular lower body/base. The surface appears matte, molded rubber, with feather-like sculpting and a red printed 'deli' logo on the front of the base.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.7955123782157898,
+                    "position": [
+                        -0.009211780590703711,
+                        0.07782335770207283,
+                        -0.06425885041244328
+                    ],
+                    "orientation": {
+                        "w": 0.8999897128112228,
+                        "xyz": [
+                            0.43369247236817443,
+                            0.02551365102939962,
+                            0.03575485780006253
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.7945418357849121,
+                    "position": [
+                        -0.011737695982446894,
+                        0.07700512749033805,
+                        -0.0651891001034528
+                    ],
+                    "orientation": {
+                        "w": 0.9027022506788501,
+                        "xyz": [
+                            0.4266164919335497,
+                            0.034838012969595655,
+                            0.04374160813207355
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.7934180498123169,
+                    "position": [
+                        -0.006693633826216683,
+                        0.07503450852709648,
+                        -0.06374867190606892
+                    ],
+                    "orientation": {
+                        "w": 0.898689136577843,
+                        "xyz": [
+                            0.4369048628669004,
+                            0.01580488310870498,
+                            0.03495972354218458
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.7924060225486755,
+                    "position": [
+                        -0.026850082067539915,
+                        0.07668577325421211,
+                        -0.06047724117524922
+                    ],
+                    "orientation": {
+                        "w": 0.1785679360698198,
+                        "xyz": [
+                            -0.0610241880614002,
+                            0.4467801451619823,
+                            -0.874515318658427
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.7924053072929382,
+                    "position": [
+                        -0.011773991485824808,
+                        0.07589454394656059,
+                        -0.06357928295619786
+                    ],
+                    "orientation": {
+                        "w": 0.8962179069529472,
+                        "xyz": [
+                            0.4400275457465587,
+                            0.03024010395224852,
+                            0.04748429586816209
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.7878025770187378,
+                    "position": [
+                        -0.015727158723166212,
+                        0.08938093674260017,
+                        -0.04471609299071133
+                    ],
+                    "orientation": {
+                        "w": 0.8420391744633726,
+                        "xyz": [
+                            0.5325250371137571,
+                            0.04268363212048376,
+                            0.07460040928196057
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.7859367728233337,
+                    "position": [
+                        -0.00533908381476067,
+                        0.07626625341254112,
+                        -0.06708753039129078
+                    ],
+                    "orientation": {
+                        "w": 0.07023027226110543,
+                        "xyz": [
+                            -0.0026065901059538744,
+                            0.4300424513071667,
+                            -0.9000691110241887
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.7847988605499268,
+                    "position": [
+                        -0.0019943098013754934,
+                        0.07948599201517936,
+                        -0.06019059498794377
+                    ],
+                    "orientation": {
+                        "w": 0.8851251116138148,
+                        "xyz": [
+                            0.46452170845120977,
+                            -0.004794746014916362,
+                            0.027388493548449456
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.7847367525100708,
+                    "position": [
+                        -0.01446642362861894,
+                        0.07533097457962867,
+                        -0.06258934666402638
+                    ],
+                    "orientation": {
+                        "w": 0.901588308154042,
+                        "xyz": [
+                            0.4293776325622211,
+                            0.043425500035617404,
+                            0.029792569574509226
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/b450b967248351339fe9c44705488970/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:864ec980e8fa7d20458ba5429c2d9048b64b5b57e172283fe150f04035c75dd2
+size 3777308

dataset/desktop_supplies/office_stationery/b450b967248351339fe9c44705488970/eraser_044.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>