Add asset desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97

.gitattributes

@@ -6282,3 +6282,4 @@ dataset/desktop_supplies/electronic_accessories/b9359304d31459aeb7f65fe1e6e3d42a
 dataset/desktop_supplies/electronic_accessories/c0b929183c94547e93cfd531546103df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/affordance/affordance_annot.json

@@ -0,0 +1,320 @@
+{
+    "affordances": [
+        {
+            "part_name": "marker barrel",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the barrel to pick up and move the marker",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the barrel to write or draw with the tip",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the barrel to stabilize the marker while removing or replacing the cap",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house the ink reservoir",
+                "support writing use",
+                "connect cap and tip"
+            ],
+            "semantic_description": "Long cylindrical red plastic body with a smooth slightly glossy hard surface, white printed Japanese text, and the largest central section of the marker.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.8742651343345642,
+                    "position": [
+                        0.0947775069025738,
+                        -0.06600437424913252,
+                        0.031074461599928327
+                    ],
+                    "orientation": {
+                        "w": 0.5710632837112191,
+                        "xyz": [
+                            0.029818450586304873,
+                            -0.8201712368351701,
+                            -0.01779686123616296
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.7612169981002808,
+                    "position": [
+                        0.10157488764798472,
+                        -0.06257779262796248,
+                        0.013396170063060708
+                    ],
+                    "orientation": {
+                        "w": 0.004557398602396056,
+                        "xyz": [
+                            0.7706434066740167,
+                            0.0256383194479054,
+                            -0.6367343609730292
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.8910579681396484,
+                    "position": [
+                        0.09533350647961925,
+                        -0.08152483515277709,
+                        0.016262584438663907
+                    ],
+                    "orientation": {
+                        "w": 0.6344999825520498,
+                        "xyz": [
+                            -0.028668737779921714,
+                            -0.7675301298229075,
+                            -0.08651806418075625
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.923442006111145,
+                    "position": [
+                        0.008654445536194544,
+                        -0.016743741182835947,
+                        0.09022998351429123
+                    ],
+                    "orientation": {
+                        "w": 0.24311993327927134,
+                        "xyz": [
+                            0.9692473189883257,
+                            0.027098613398703453,
+                            -0.02679548148649066
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.888042151927948,
+                    "position": [
+                        -0.09030290214741399,
+                        -0.025652914492638956,
+                        -0.011176942774909548
+                    ],
+                    "orientation": {
+                        "w": 0.131125293964688,
+                        "xyz": [
+                            0.6407744290758771,
+                            -0.1655099511332162,
+                            0.7381197358159706
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cap",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cap to pull it off the marker",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the cap to align and press it back onto the marker",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "temporarily grasp the capped end to reposition the marker",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "cover the tip",
+                "prevent ink drying",
+                "protect from accidental marks",
+                "provide clip attachment area"
+            ],
+            "semantic_description": "Short red plastic cap with a smooth semi-gloss hard surface and an integrated pocket clip, fitted over one end of the marker.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9681706428527832,
+                    "position": [
+                        -0.011540137104930182,
+                        0.09789873548015748,
+                        0.07826908964489121
+                    ],
+                    "orientation": {
+                        "w": 0.30796284846503486,
+                        "xyz": [
+                            0.9495541526813563,
+                            -0.008383221611320157,
+                            0.058613280801443686
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9503339529037476,
+                    "position": [
+                        -0.045830855950953264,
+                        0.09395120181306993,
+                        -0.06633928131486755
+                    ],
+                    "orientation": {
+                        "w": 0.9134428380328949,
+                        "xyz": [
+                            0.2777121657527768,
+                            0.29264742888039197,
+                            -0.053437973474009706
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9435469508171082,
+                    "position": [
+                        -0.018286655530573626,
+                        0.13310512043699418,
+                        0.05119214493606705
+                    ],
+                    "orientation": {
+                        "w": 0.1344421165020504,
+                        "xyz": [
+                            0.06261245309993409,
+                            0.857017814820766,
+                            -0.4934829917100452
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9433956146240234,
+                    "position": [
+                        -0.022766682192923327,
+                        0.1365942869351784,
+                        0.049451786166173406
+                    ],
+                    "orientation": {
+                        "w": 0.1737475369698424,
+                        "xyz": [
+                            0.08296350097125857,
+                            0.8534844359246335,
+                            -0.48424494683777075
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9395949840545654,
+                    "position": [
+                        -0.02099117903435399,
+                        0.12535256780847703,
+                        0.04797831091855187
+                    ],
+                    "orientation": {
+                        "w": 0.1722697788179446,
+                        "xyz": [
+                            0.08564138675682123,
+                            0.8519814295534593,
+                            -0.48694591062707293
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9374337196350098,
+                    "position": [
+                        -0.02279365515732934,
+                        0.13304788507684862,
+                        0.048388033246737905
+                    ],
+                    "orientation": {
+                        "w": 0.15367683492607986,
+                        "xyz": [
+                            0.051359251426465184,
+                            0.8497434904192112,
+                            -0.5016788396874949
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9283062815666199,
+                    "position": [
+                        -0.013360762842239637,
+                        0.12712598480447923,
+                        0.053574661797028966
+                    ],
+                    "orientation": {
+                        "w": 0.09749381626042805,
+                        "xyz": [
+                            0.03208257020509498,
+                            0.8652683249806399,
+                            -0.4906897087419001
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9278860688209534,
+                    "position": [
+                        -0.01605017004931142,
+                        0.13412652053102647,
+                        0.0531906849500956
+                    ],
+                    "orientation": {
+                        "w": 0.11386341947282078,
+                        "xyz": [
+                            0.047929726961660604,
+                            0.8676365323082184,
+                            -0.4816063857378834
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9272213578224182,
+                    "position": [
+                        -0.009266646452488203,
+                        0.13531512655481492,
+                        0.050463832056266256
+                    ],
+                    "orientation": {
+                        "w": 0.5090984790513577,
+                        "xyz": [
+                            0.8565861363449331,
+                            -0.02909068244792845,
+                            0.0789472092221647
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "marker tip",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "apply ink to a surface",
+                "make marks",
+                "provide writing contact point",
+                "indicate writing end"
+            ],
+            "semantic_description": "Small chisel-shaped red-orange felt nib at the writing end, with a matte slightly fibrous texture and a firm tapered form protruding from the barrel.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tip collar",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold the nib",
+                "connect tip to barrel",
+                "help seal near the writing end",
+                "provide tip support"
+            ],
+            "semantic_description": "Narrow white plastic ring around the base of the nib, with a smooth hard finish and a small circular band at the writing end.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b6f8edec0b691fd623697c0c8ad066df5daac53e7fce3523eab73999ad17a86
+size 3783584

dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/marker_015.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>