Add asset desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe

.gitattributes

@@ -6333,3 +6333,4 @@ dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/affo
 dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/559366301ba05cdea0f2681d2462fcd8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/affordance/affordance_annot.json

@@ -0,0 +1,182 @@
+{
+    "affordances": [
+        {
+            "part_name": "notebook body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the notebook from the sides to pick it up",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the notebook body to reposition or stack it",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "stabilize the notebook while opening pages or adjusting the elastic band",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main body",
+                "protect pages",
+                "contain writing pages",
+                "provide writing support surface",
+                "primary grasp surface"
+            ],
+            "semantic_description": "A small rectangular red spiral notebook with rounded corners, smooth matte cover surfaces, white page edges, a white printed logo on the front, and a compact thick body.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9733428955078125,
+                    "position": [
+                        -0.15013214980717748,
+                        0.06430166657082736,
+                        -0.00032425637255073525
+                    ],
+                    "orientation": {
+                        "w": 0.6964857538900103,
+                        "xyz": [
+                            0.01561077755166088,
+                            0.7173406662928569,
+                            0.009287988749804186
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9811890125274658,
+                    "position": [
+                        -0.14697079395409673,
+                        0.06295533175580204,
+                        0.002841255449311575
+                    ],
+                    "orientation": {
+                        "w": 0.6976725455146836,
+                        "xyz": [
+                            0.004407187005758389,
+                            0.7164015860166156,
+                            -0.0015373648351208703
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9796056151390076,
+                    "position": [
+                        -0.14573197101708502,
+                        0.06669636513106525,
+                        0.0010623504022078123
+                    ],
+                    "orientation": {
+                        "w": 0.6913145154483991,
+                        "xyz": [
+                            0.01898036906168454,
+                            0.7222980714826234,
+                            -0.003079326730063001
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9566527605056763,
+                    "position": [
+                        -0.15325571631547064,
+                        0.06546795810572803,
+                        -0.0012282384013815317
+                    ],
+                    "orientation": {
+                        "w": 0.7088216755664645,
+                        "xyz": [
+                            0.006109529178526743,
+                            0.7053406835619901,
+                            -0.005387579481629521
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9817100167274475,
+                    "position": [
+                        -0.14460715686436743,
+                        0.06366779352538288,
+                        0.0024100356349663343
+                    ],
+                    "orientation": {
+                        "w": 0.695194880373143,
+                        "xyz": [
+                            0.012514792346281459,
+                            0.7187029375739057,
+                            0.0036804616748113026
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9345885515213013,
+                    "position": [
+                        -0.15526722406502813,
+                        0.0631152733694762,
+                        0.003880702945025405
+                    ],
+                    "orientation": {
+                        "w": 0.695192599815008,
+                        "xyz": [
+                            0.009383037580266713,
+                            0.7186786293482612,
+                            0.010965194313040967
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9776676297187805,
+                    "position": [
+                        -0.13997623359318823,
+                        0.07303852285258472,
+                        0.001615872544789454
+                    ],
+                    "orientation": {
+                        "w": 0.6920196961883767,
+                        "xyz": [
+                            0.04873405727031748,
+                            0.7195489043566924,
+                            -0.0313545210201609
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.958524763584137,
+                    "position": [
+                        -0.1388951245462522,
+                        0.11575521226041019,
+                        -0.00015012678704806603
+                    ],
+                    "orientation": {
+                        "w": 0.19538030673302823,
+                        "xyz": [
+                            0.673467169721809,
+                            -0.18836242652761115,
+                            0.6875958866372266
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8964748382568359,
+                    "position": [
+                        -0.1386347565567121,
+                        0.01659062202088535,
+                        0.026004739625932416
+                    ],
+                    "orientation": {
+                        "w": 0.1957438816875697,
+                        "xyz": [
+                            -0.7834271725028114,
+                            -0.13209661486832736,
+                            -0.5748710137991493
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b05b9a0a75540aaf35c0b2e95a5e01c0f765d7b2e90d9450312a2bc999041a69
+size 3803772

dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/notebook_019.urdf

@@ -51,16 +51,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>3</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>