Add asset desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d

.gitattributes

@@ -8173,3 +8173,4 @@ dataset/desktop_supplies/office_stationery/0b32a2ba04fe51638bf37032e495731e/affo
 dataset/desktop_supplies/office_stationery/0b7c0d5465d75b429d934a5c4367fc2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/0f964a4ea13b57b2bf291ed706b793c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/10ab616ea78652a8a5611334723ad931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/affordance/affordance_annot.json

@@ -0,0 +1,241 @@
+{
+    "affordances": [
+        {
+            "part_name": "eraser body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and move the eraser",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the main body while rubbing to erase marks",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "pinch the main body to reorient it for precise erasing",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "erase pencil marks",
+                "provide main grip surface",
+                "support controlled rubbing",
+                "carry printed branding"
+            ],
+            "semantic_description": "Large rectangular white eraser body with a matte smooth slightly soft rubber surface, rounded edges, black and red printed Mitsubishi branding, and it forms most of the object.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8425331711769104,
+                    "position": [
+                        0.08501083866576664,
+                        0.0486020732059842,
+                        -0.006015703209413914
+                    ],
+                    "orientation": {
+                        "w": 0.7093959695664864,
+                        "xyz": [
+                            0.22686870932489642,
+                            -0.653471832809875,
+                            0.1351388575361787
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.8403748869895935,
+                    "position": [
+                        -0.0009612130525056273,
+                        0.10092261688259896,
+                        -0.0007604220991197508
+                    ],
+                    "orientation": {
+                        "w": 0.5036505000858432,
+                        "xyz": [
+                            0.50501045799352,
+                            -0.48700475325667747,
+                            0.504110088557904
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.8276366591453552,
+                    "position": [
+                        0.04089159981231205,
+                        0.09119089202431496,
+                        -0.01488410275123897
+                    ],
+                    "orientation": {
+                        "w": 0.687945650060626,
+                        "xyz": [
+                            0.42497909294782144,
+                            -0.5001965357232024,
+                            0.30972080777761224
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.8256977200508118,
+                    "position": [
+                        -0.02704059801180847,
+                        0.09448056922701653,
+                        0.038860717195348116
+                    ],
+                    "orientation": {
+                        "w": 0.2072880164964151,
+                        "xyz": [
+                            0.08292409694975608,
+                            0.8387024172834995,
+                            -0.4967227874829826
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8252143263816833,
+                    "position": [
+                        0.00044579742825590074,
+                        -0.09913613392564002,
+                        -0.007289515935553936
+                    ],
+                    "orientation": {
+                        "w": 0.4895484326189857,
+                        "xyz": [
+                            -0.4295336849459139,
+                            -0.5270274198693405,
+                            -0.5459718347341225
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.821060299873352,
+                    "position": [
+                        -0.010537311463849619,
+                        0.10116533444670495,
+                        0.004509984388278099
+                    ],
+                    "orientation": {
+                        "w": 0.5284080262008386,
+                        "xyz": [
+                            0.5416586457368334,
+                            0.4926036175063031,
+                            -0.4298052412020803
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.8172063231468201,
+                    "position": [
+                        -0.045005220017628744,
+                        0.08974609033612069,
+                        0.0007200083236966748
+                    ],
+                    "orientation": {
+                        "w": 0.31881543635323334,
+                        "xyz": [
+                            0.5549018640048625,
+                            -0.42832506578930096,
+                            0.6379484907760321
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8147848844528198,
+                    "position": [
+                        -0.0037981807545293123,
+                        0.10620257513073739,
+                        -0.005637367848976282
+                    ],
+                    "orientation": {
+                        "w": 0.06734997777405032,
+                        "xyz": [
+                            0.04539511817933763,
+                            0.7037955929635364,
+                            -0.7057443071427658
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.81306391954422,
+                    "position": [
+                        -0.0069130910851527005,
+                        0.1011688287690049,
+                        0.004890587984846206
+                    ],
+                    "orientation": {
+                        "w": 0.14759771723242945,
+                        "xyz": [
+                            0.10855342659753203,
+                            0.7141432156122102,
+                            -0.6755964291178292
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8122327923774719,
+                    "position": [
+                        0.043813210882944986,
+                        0.09183204428700265,
+                        0.0010205254548054654
+                    ],
+                    "orientation": {
+                        "w": 0.34971783067033335,
+                        "xyz": [
+                            0.5800368116389302,
+                            0.4031568706480494,
+                            -0.6154017173393754
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8118829131126404,
+                    "position": [
+                        -0.006580751418368891,
+                        0.10254652307776269,
+                        -0.013773968104942469
+                    ],
+                    "orientation": {
+                        "w": 0.17849628407386287,
+                        "xyz": [
+                            0.12492988320379639,
+                            0.6752782036898881,
+                            -0.7046495217310992
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "eraser end",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed end to pick up or reposition the eraser",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "use the end as a pinch point to stabilize the eraser during handling",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "press or rub with the end for erasing in a smaller contact area",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "erase pencil marks",
+                "provide an alternate contact edge for erasing",
+                "serve as an end grip area",
+                "indicate object orientation"
+            ],
+            "semantic_description": "Smaller white exposed end section of the eraser, with a matte smooth rubber appearance and rectangular slightly stepped geometry at one tip.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5df351348e61faa0d7adea9cde5a8b5f5d1e68d656e7ea261125da4081ac5235
+size 3731924

dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/eraser_049.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>