Add asset desktop_supplies/office_stationery/dac8cbfc6bbc5d018d7b792ea577c307

.gitattributes

@@ -8200,4 +8200,4 @@ dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/affo
 dataset/desktop_supplies/office_stationery/22ba451e4e095c55bea7efcc99501355/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/dac8cbfc6bbc5d018d7b792ea577c307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/dac8cbfc6bbc5d018d7b792ea577c307/affordance/affordance_annot.json

@@ -0,0 +1,220 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and move the brush",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to orient the brush tip for precise application",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "stabilize the brush by the handle while using the bristles on a surface",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "main grip area",
+                "support manipulation",
+                "provide reach and control",
+                "connect to ferrule"
+            ],
+            "semantic_description": "Elongated bright red plastic handle with a glossy smooth hard surface, slightly tapered and gently contoured, forming the largest rear portion of the brush.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "ferrule",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the ferrule for delicate near-tip repositioning",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "hold the ferrule lightly to stabilize the brush during fine manipulation",
+                    "confidence": 0.47
+                }
+            ],
+            "functional_labels": [
+                "connect handle to bristles",
+                "clamp the bristle bundle",
+                "support tip structure",
+                "form transition to brush head"
+            ],
+            "semantic_description": "Short silver-gray metal ferrule with a slightly reflective smooth finish, narrow and band-like, positioned between the red handle and the dark bristles.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9829677939414978,
+                    "position": [
+                        -0.07380720227956772,
+                        0.08707296074135229,
+                        -0.006959732374525629
+                    ],
+                    "orientation": {
+                        "w": 0.3986106039160047,
+                        "xyz": [
+                            0.5876569908955482,
+                            -0.31719193786622757,
+                            0.6286160370607599
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9818442463874817,
+                    "position": [
+                        0.026512619107961655,
+                        0.06800585211021826,
+                        0.049933073823922314
+                    ],
+                    "orientation": {
+                        "w": 0.14062139440879165,
+                        "xyz": [
+                            0.6863175076894574,
+                            0.5200718825257582,
+                            -0.4885889264807102
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9805039167404175,
+                    "position": [
+                        0.018656127154827118,
+                        -0.07895863085286692,
+                        0.032133115237229504
+                    ],
+                    "orientation": {
+                        "w": 0.5301632688031638,
+                        "xyz": [
+                            -0.4619731410575534,
+                            -0.6729388607755403,
+                            -0.22947987931729566
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.977462649345398,
+                    "position": [
+                        -0.0699646919965744,
+                        0.08289963722927496,
+                        -0.02907677947951015
+                    ],
+                    "orientation": {
+                        "w": 0.4591668476073176,
+                        "xyz": [
+                            0.5403375011321288,
+                            -0.2541979625616875,
+                            0.6577116288755528
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9753469228744507,
+                    "position": [
+                        0.02097013220191002,
+                        -0.026449285738635808,
+                        0.08153294563817326
+                    ],
+                    "orientation": {
+                        "w": 0.0679014896990205,
+                        "xyz": [
+                            0.7125396003034155,
+                            -0.6366605446407806,
+                            -0.28694957151703004
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9673658609390259,
+                    "position": [
+                        -0.0707741528749466,
+                        0.06439082295401022,
+                        -0.05896024614048656
+                    ],
+                    "orientation": {
+                        "w": 0.6908884080932215,
+                        "xyz": [
+                            0.11902356437420955,
+                            0.4474705827436378,
+                            -0.555226689078562
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9376265406608582,
+                    "position": [
+                        -0.08218950405716896,
+                        0.04176210210425779,
+                        0.0693098285846645
+                    ],
+                    "orientation": {
+                        "w": 0.02476577483095574,
+                        "xyz": [
+                            -0.6857989123394143,
+                            0.6271933417810494,
+                            -0.3683680499943205
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9897122383117676,
+                    "position": [
+                        -0.018466481240466237,
+                        0.09673812956316397,
+                        0.0029366903618210927
+                    ],
+                    "orientation": {
+                        "w": 0.5010531756722878,
+                        "xyz": [
+                            0.4893134413165812,
+                            -0.5149849662224567,
+                            0.4942757892720371
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9896057844161987,
+                    "position": [
+                        0.00791088491678238,
+                        -0.09195645927684382,
+                        0.027501128395670094
+                    ],
+                    "orientation": {
+                        "w": 0.32757910663417655,
+                        "xyz": [
+                            -0.6356839463628512,
+                            0.4811604160157088,
+                            0.5070330396462313
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bristles",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "apply or spread material",
+                "make contact with surfaces",
+                "provide soft working tip",
+                "enable brushing strokes"
+            ],
+            "semantic_description": "Small dark brown to black bristle bundle with a soft fine texture, slightly flared and tapered shape, located at the front end of the brush.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/dac8cbfc6bbc5d018d7b792ea577c307/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f5aba5989f148c6f78e2f98665ab8e6c4c34a84e32558dc81297d2227552f9c
+size 526032

dataset/desktop_supplies/office_stationery/dac8cbfc6bbc5d018d7b792ea577c307/dac8cbfc6bbc5d018d7b792ea577c307.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>