Add asset desktop_supplies/office_stationery/3ac398cf928f57f4b7f22f378056f766

.gitattributes

@@ -6307,3 +6307,4 @@ dataset/desktop_supplies/office_stationery/3656004426b658169850d0078a4aca29/affo
 dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/3928ddf74cd553e48ab13907c6bb3fa9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/3a01781b4ae65d71b562c61765284afc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/3ac398cf928f57f4b7f22f378056f766/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/3ac398cf928f57f4b7f22f378056f766/3ac398cf928f57f4b7f22f378056f766.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>

dataset/desktop_supplies/office_stationery/3ac398cf928f57f4b7f22f378056f766/affordance/affordance_annot.json

@@ -0,0 +1,166 @@
+{
+    "affordances": [
+        {
+            "part_name": "wooden pen holder body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer sidewalls to pick up and relocate the pen holder",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to stabilize it while inserting or removing pens",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "grasp the body near the rim and side to reorient the container",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain pens and pencils",
+                "provide structural enclosure",
+                "support upright storage",
+                "present an open top for access",
+                "provide main grasp surface"
+            ],
+            "semantic_description": "Hollow square wooden container with light tan to honey-brown color, a matte smooth surface with subtle wood grain, rounded edges and corners, and a slightly tapered form forming the outer walls and base.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9381639361381531,
+                    "position": [
+                        -0.07385586178861558,
+                        -0.03376936336280778,
+                        0.14213092037243769
+                    ],
+                    "orientation": {
+                        "w": 0.19300711278788932,
+                        "xyz": [
+                            -0.06541244110189358,
+                            0.9681761712038499,
+                            0.1452734265976656
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9278860092163086,
+                    "position": [
+                        -0.06551393098197877,
+                        0.004246104217600077,
+                        0.15626359888119623
+                    ],
+                    "orientation": {
+                        "w": 0.0990290399268618,
+                        "xyz": [
+                            -0.042779196910791205,
+                            0.9936020013815486,
+                            -0.03344028129984305
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9251831769943237,
+                    "position": [
+                        -0.06602677679620683,
+                        -0.035524600942153484,
+                        0.15333124407334253
+                    ],
+                    "orientation": {
+                        "w": 0.13601836512127374,
+                        "xyz": [
+                            -0.088918143512346,
+                            0.9760752618495115,
+                            0.14446332167530113
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9249953627586365,
+                    "position": [
+                        -0.06356018013320863,
+                        0.02446231822250411,
+                        0.14279652544064447
+                    ],
+                    "orientation": {
+                        "w": 0.1214362445691988,
+                        "xyz": [
+                            0.0014910464531751784,
+                            0.9608255850400644,
+                            -0.2491289032164306
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9243999719619751,
+                    "position": [
+                        0.00453769345767796,
+                        -0.08612845261814073,
+                        0.15585950919194147
+                    ],
+                    "orientation": {
+                        "w": 0.06818133964243413,
+                        "xyz": [
+                            -0.732570980260554,
+                            0.6728084590422453,
+                            0.07758763590839113
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9239034056663513,
+                    "position": [
+                        -0.002426581457257271,
+                        -0.07554529776098207,
+                        0.15396844752831385
+                    ],
+                    "orientation": {
+                        "w": 0.0484195609093707,
+                        "xyz": [
+                            -0.7476903367197983,
+                            0.6618220510099424,
+                            0.024622739371799835
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9222708940505981,
+                    "position": [
+                        -0.012963728746399283,
+                        -0.07475313713075593,
+                        0.15529934474034235
+                    ],
+                    "orientation": {
+                        "w": 0.058711916662373784,
+                        "xyz": [
+                            -0.7235111995849992,
+                            0.6876925624500976,
+                            0.012782584547930166
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9213045835494995,
+                    "position": [
+                        0.014662305125966668,
+                        -0.06132409517886117,
+                        0.1527832240681164
+                    ],
+                    "orientation": {
+                        "w": 0.13467352633361032,
+                        "xyz": [
+                            0.6222192571121146,
+                            -0.7599259733578325,
+                            -0.1312202438645402
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/3ac398cf928f57f4b7f22f378056f766/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81a071456ff6c4c4f2725a75622b5a20dd9a40100b8a6e06aded07ec40f311de
+size 2436924