Add asset desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb

.gitattributes

@@ -6329,4 +6329,4 @@ dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/affo
 dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/52775e064311597a99bfef996c13fef7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/affordance/affordance_annot.json

@@ -0,0 +1,203 @@
+{
+    "affordances": [
+        {
+            "part_name": "container body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer wall to pick up and move the pen holder",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize it while inserting or removing pens",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "contain pens and tools",
+                "provide main structure",
+                "support upright standing",
+                "offer main grasp surface"
+            ],
+            "semantic_description": "Large purple cup-like body with a smooth glossy surface, slightly waisted profile, and scalloped flared rim with a light-colored edge. It forms nearly the entire pen holder and appears rigid and decorative.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.8126415014266968,
+                    "position": [
+                        -0.09659366286359727,
+                        0.030425668694078922,
+                        0.09669982921332121
+                    ],
+                    "orientation": {
+                        "w": 0.3995607868480409,
+                        "xyz": [
+                            0.28752642480431667,
+                            0.8517296583599524,
+                            0.17954476244842432
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.8012266159057617,
+                    "position": [
+                        0.0006580395074706757,
+                        0.003594218986108899,
+                        -0.11309691984206438
+                    ],
+                    "orientation": {
+                        "w": 0.9628756586010822,
+                        "xyz": [
+                            0.01297756772782919,
+                            0.01399870220891064,
+                            -0.2692695399518259
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.7949378490447998,
+                    "position": [
+                        -0.0067927788477391005,
+                        -0.0023125631269067526,
+                        -0.11520997900515795
+                    ],
+                    "orientation": {
+                        "w": 0.9590137843613757,
+                        "xyz": [
+                            -0.006813852984609812,
+                            0.029194154778086512,
+                            -0.28176911494904744
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.7931405305862427,
+                    "position": [
+                        -0.07766212499700487,
+                        0.0011529087059898302,
+                        0.12183563690632582
+                    ],
+                    "orientation": {
+                        "w": 0.2504403141916732,
+                        "xyz": [
+                            0.15420915261350485,
+                            0.9473832893993099,
+                            0.12634907694456726
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.7914607524871826,
+                    "position": [
+                        0.021581812063232064,
+                        0.08389944117516279,
+                        0.11872576456516981
+                    ],
+                    "orientation": {
+                        "w": 0.2854648976928819,
+                        "xyz": [
+                            0.8381053213443163,
+                            0.44578658351701583,
+                            -0.13177095459834642
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.7686507701873779,
+                    "position": [
+                        -0.005223577609285712,
+                        0.001747121859807521,
+                        -0.12004110682755709
+                    ],
+                    "orientation": {
+                        "w": 0.9571042522583418,
+                        "xyz": [
+                            -0.005558685500957668,
+                            0.027245023355086606,
+                            -0.2884064146770701
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.7672358751296997,
+                    "position": [
+                        -0.04393558553420007,
+                        -0.07951435167342424,
+                        0.11280356626957655
+                    ],
+                    "orientation": {
+                        "w": 0.3459045466418208,
+                        "xyz": [
+                            -0.6814722183721622,
+                            0.6442479859905045,
+                            -0.0298360980461403
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.7656212449073792,
+                    "position": [
+                        -0.10054651624523103,
+                        0.036763972602784634,
+                        0.08764466177672148
+                    ],
+                    "orientation": {
+                        "w": 0.44596166468447035,
+                        "xyz": [
+                            0.47703530826889834,
+                            0.7123973065229048,
+                            0.2569933578043671
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "decorative floral relief",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate exterior",
+                "provide floral visual theme",
+                "add raised surface detail"
+            ],
+            "semantic_description": "Raised flower-and-leaf vine ornament on the outer wall, mostly dark purple with some tan or beige leaf and bud details. It has a glossy finish and thin curved branch, leaf, and blossom shapes attached as decorative relief.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "petal accent",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "highlight decoration",
+                "add visual contrast",
+                "ornament exterior"
+            ],
+            "semantic_description": "Small elongated pink petal-like accent within the floral relief on the side wall, with a smooth glossy surface and slightly curved slender shape.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feet",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support base",
+                "raise the holder slightly",
+                "stabilize on a surface"
+            ],
+            "semantic_description": "Several small tan to beige feet around the lower perimeter, each rounded and textured like carved buds or stumps, supporting the holder above the surface.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ad3625f6d7d1bce8c12eea1d5dcf68792a06fc53190e51594b3094c57c372d2
+size 3798740

dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/pen_holder_009.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>