Add asset desktop_supplies/office_stationery/15a98a63756356cbb01c835bbeec4e79

.gitattributes

@@ -8180,3 +8180,4 @@ dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/affo
 dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1523c83b6ffc5841a02464937a7edde5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/159fc3e5c87f5cc99deff6587d85373c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/15a98a63756356cbb01c835bbeec4e79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/15a98a63756356cbb01c835bbeec4e79/affordance/affordance_annot.json

@@ -0,0 +1,149 @@
+{
+    "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": 0.96
+                },
+                {
+                    "scenario": "hold the eraser body to rub and remove pencil marks",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pinch one end of the eraser body to reposition or orient it precisely",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "erase pencil marks",
+                "provide the main grasp surface",
+                "contact paper for rubbing",
+                "support controlled positioning"
+            ],
+            "semantic_description": "A small off-white rectangular rubber block with rounded edges, a matte smooth slightly soft surface, black printed zebra graphic and 'Zebra' text, forming the entire main body of the eraser.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9313291907310486,
+                    "position": [
+                        0.08359865113743581,
+                        0.056852538356906734,
+                        -0.01035605141078122
+                    ],
+                    "orientation": {
+                        "w": 0.7143621882274894,
+                        "xyz": [
+                            0.1933583926216406,
+                            -0.6437631394794885,
+                            0.19459757521901988
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9311112761497498,
+                    "position": [
+                        0.08290261789807118,
+                        0.05799860156548675,
+                        -0.007684816635446623
+                    ],
+                    "orientation": {
+                        "w": 0.707071986666123,
+                        "xyz": [
+                            0.20707616026065537,
+                            -0.6505827974727116,
+                            0.18414856273212252
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9306017756462097,
+                    "position": [
+                        0.08725710972794332,
+                        0.04402339480293449,
+                        -0.0016341669543180615
+                    ],
+                    "orientation": {
+                        "w": 0.6918088405210685,
+                        "xyz": [
+                            0.16258489288061978,
+                            -0.6829941117605999,
+                            0.16877714325180793
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9237830638885498,
+                    "position": [
+                        0.09528008862980641,
+                        0.004827762706554495,
+                        0.015558522631181404
+                    ],
+                    "orientation": {
+                        "w": 0.6338406345905989,
+                        "xyz": [
+                            0.04116505025025033,
+                            -0.7723231089549631,
+                            -0.008276711534260975
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9220641851425171,
+                    "position": [
+                        0.08473396315821446,
+                        0.045841720173484646,
+                        -0.02493313097511418
+                    ],
+                    "orientation": {
+                        "w": 0.7796601829352313,
+                        "xyz": [
+                            0.21347035726691174,
+                            -0.5761901374879926,
+                            0.1206869138527712
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.915858268737793,
+                    "position": [
+                        0.07868348821648397,
+                        0.06214784107578453,
+                        -0.020625903765903786
+                    ],
+                    "orientation": {
+                        "w": 0.763340993328964,
+                        "xyz": [
+                            0.22728401295421016,
+                            -0.582217173248318,
+                            0.1633268763361354
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9143277406692505,
+                    "position": [
+                        0.08750676378258504,
+                        0.04476294315827545,
+                        -0.006837075139628723
+                    ],
+                    "orientation": {
+                        "w": 0.68672385467136,
+                        "xyz": [
+                            0.07610558354158911,
+                            -0.6802478505122636,
+                            0.24470625135567708
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/15a98a63756356cbb01c835bbeec4e79/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd3440dee14fceb8672f31a4268aaf65937be1756b3cc67964255c5d4b60c239
+size 3776864

dataset/desktop_supplies/office_stationery/15a98a63756356cbb01c835bbeec4e79/eraser_048.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>