Add asset desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8

.gitattributes

@@ -6437,3 +6437,4 @@ dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/affo
 dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9e32571529dc5357af6232884880b3c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/affordance/affordance_annot.json

@@ -0,0 +1,251 @@
+{
+    "affordances": [
+        {
+            "part_name": "eraser body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body from the sides to pick up and reposition the eraser",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body while rubbing an edge or face on paper to erase marks",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "stabilize the eraser by pinching the body during precise placement",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main erasing mass",
+                "main grasp surface",
+                "provide structural support",
+                "contact paper during erasing"
+            ],
+            "semantic_description": "Large white rectangular eraser body with a matte smooth slightly chalky surface and beveled long edges, occupying most of the object; blue and green printed branding is visible on the outer sleeve-facing side in several views.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9463176131248474,
+                    "position": [
+                        0.04207997675985098,
+                        0.08967127648793394,
+                        -0.00035232458321843296
+                    ],
+                    "orientation": {
+                        "w": 0.36825455396149037,
+                        "xyz": [
+                            0.6101439447448918,
+                            0.3617396392801038,
+                            -0.6010469062820861
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9452444911003113,
+                    "position": [
+                        -0.0143352672457695,
+                        -0.09721132370032137,
+                        -0.0025127429253188893
+                    ],
+                    "orientation": {
+                        "w": 0.4851280745476316,
+                        "xyz": [
+                            -0.509232670191008,
+                            -0.46476389664297635,
+                            -0.5378915869142038
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9451736211776733,
+                    "position": [
+                        0.02279143314808607,
+                        0.09816660729848081,
+                        -0.0037463960907189175
+                    ],
+                    "orientation": {
+                        "w": 0.5634763126403304,
+                        "xyz": [
+                            0.43990633315264377,
+                            -0.5309125647745896,
+                            0.4550919815926435
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9432058930397034,
+                    "position": [
+                        -0.015740363858640194,
+                        -0.09919360282219714,
+                        0.0011465688730822876
+                    ],
+                    "orientation": {
+                        "w": 0.48871050676313954,
+                        "xyz": [
+                            -0.5063980279341086,
+                            -0.48508383612245354,
+                            -0.5190537061003276
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9429929852485657,
+                    "position": [
+                        0.04525912832468748,
+                        0.08985750374995405,
+                        -2.6883077225647867e-05
+                    ],
+                    "orientation": {
+                        "w": 0.3695065206583706,
+                        "xyz": [
+                            0.6076666976258248,
+                            0.36551305632631204,
+                            -0.6005050553013419
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9415456652641296,
+                    "position": [
+                        0.04109955858439207,
+                        0.08631639180384809,
+                        -0.001968299431609921
+                    ],
+                    "orientation": {
+                        "w": 0.6170379101039372,
+                        "xyz": [
+                            0.351164698576174,
+                            -0.6072934907134757,
+                            0.3565700325399083
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9413980841636658,
+                    "position": [
+                        -0.006043685600161552,
+                        -0.09812092038191622,
+                        0.00010268707683280809
+                    ],
+                    "orientation": {
+                        "w": 0.49612381615049667,
+                        "xyz": [
+                            -0.5118040845178051,
+                            0.4951985900819479,
+                            0.49668510597763044
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9411622285842896,
+                    "position": [
+                        -0.044742063619196415,
+                        0.0874234884759062,
+                        -0.004711971545475535
+                    ],
+                    "orientation": {
+                        "w": 0.36509150781344646,
+                        "xyz": [
+                            0.5896915271595562,
+                            -0.35029260607198753,
+                            0.6294975646100865
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9408554434776306,
+                    "position": [
+                        0.043023898266255856,
+                        0.08814939854346449,
+                        -0.0018611288833199069
+                    ],
+                    "orientation": {
+                        "w": 0.3671751733146918,
+                        "xyz": [
+                            0.6069592669536001,
+                            0.35952219921143935,
+                            -0.6062397451789553
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9405693411827087,
+                    "position": [
+                        0.0013165934360586107,
+                        -0.0982258394578821,
+                        0.003169255403918214
+                    ],
+                    "orientation": {
+                        "w": 0.49762574782792307,
+                        "xyz": [
+                            -0.49204238813726664,
+                            -0.5171573178107018,
+                            -0.4927587766947597
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9403567910194397,
+                    "position": [
+                        0.04712677653878927,
+                        0.08993787316285307,
+                        -0.0032941556273726746
+                    ],
+                    "orientation": {
+                        "w": 0.374106805626849,
+                        "xyz": [
+                            0.6018877042245236,
+                            0.3608538524905611,
+                            -0.6062670918248222
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "beveled erasing end",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "use the beveled end as a contact surface for general or somewhat precise erasing",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "erasing end surface",
+                "contact surface",
+                "erase pencil marks"
+            ],
+            "semantic_description": "White rubber beveled end section at one end of the eraser, with a matte smooth finish and a slanted profile forming the end contact face.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "opposite beveled erasing end",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "use the opposite beveled end as a contact surface for erasing or reaching tighter areas",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "erasing end surface",
+                "contact surface",
+                "erase pencil marks"
+            ],
+            "semantic_description": "White rubber beveled end section at the opposite end of the eraser, visible as a smaller area in some views, with a matte smooth finish and slanted profile forming the opposite end contact face.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red/orange parts are whole end faces, not both beveled ends; body description incorrectly claims visible blue/green branding on purple mask part."
+    }
+}

dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:514ffe9adc7272d0d304329e4bff006c8d974ef318e60dc229c8a9fe8e6cb581
+size 3786084

dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/eraser_005.urdf

@@ -54,6 +54,7 @@
                <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>