Add asset desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350

.gitattributes

@@ -6469,3 +6469,4 @@ dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/affo
 dataset/desktop_supplies/office_stationery/b450b967248351339fe9c44705488970/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b46f079da16b5bdd91d161669fcaa770/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/affordance/affordance_annot.json

@@ -0,0 +1,201 @@
+{
+    "affordances": [
+        {
+            "part_name": "marker barrel",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the barrel to pick up and move the marker",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the barrel to write or draw with the marker",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the barrel to reorient the marker in-hand",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main handhold",
+                "support writing motion",
+                "contain ink reservoir",
+                "connect front section to rear end"
+            ],
+            "semantic_description": "Long cylindrical orange plastic body with a glossy smooth hard surface, medium-sized as the main central section, with white printed text visible on the side.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_15": {
+                    "confidence": 0.9930169582366943,
+                    "position": [
+                        0.08613670485647162,
+                        -0.02970751002430916,
+                        0.012424499393091537
+                    ],
+                    "orientation": {
+                        "w": 0.1760016651120256,
+                        "xyz": [
+                            -0.7279141885001364,
+                            0.18255705690510815,
+                            0.6370535841137126
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9929094314575195,
+                    "position": [
+                        -0.024105337834043894,
+                        0.024613451212644577,
+                        0.09467447608767543
+                    ],
+                    "orientation": {
+                        "w": 0.030511249166871566,
+                        "xyz": [
+                            0.9920531824801201,
+                            0.014440823183141716,
+                            0.12120647437796396
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9928432703018188,
+                    "position": [
+                        0.08866260814102134,
+                        -0.01728389970958233,
+                        0.024717001841054298
+                    ],
+                    "orientation": {
+                        "w": 0.14344256145983034,
+                        "xyz": [
+                            -0.7860883758623489,
+                            0.11708796726408655,
+                            0.589728500937424
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front grip section",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front section for precision manipulation near the tip",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the front section to stabilize the marker during careful placement",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support precise handling",
+                "transition to tip holder",
+                "stabilize near-tip control",
+                "connect barrel to front assembly"
+            ],
+            "semantic_description": "Short translucent whitish plastic section with a semi-gloss smooth hard surface near the writing end, narrower than the barrel and blending into the tip assembly.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.9909571409225464,
+                    "position": [
+                        0.09022622423799476,
+                        0.0358634889125824,
+                        0.03248139903007541
+                    ],
+                    "orientation": {
+                        "w": 0.5735552181583022,
+                        "xyz": [
+                            0.03543978218523369,
+                            -0.818307135826566,
+                            0.012323352521432254
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.9898770451545715,
+                    "position": [
+                        0.013220327520684805,
+                        0.04631770774722099,
+                        -0.09643472671450581
+                    ],
+                    "orientation": {
+                        "w": 0.9965260856088065,
+                        "xyz": [
+                            0.06121450571780633,
+                            -0.05643777000318517,
+                            0.0018229393796069051
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "tip holder",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the writing tip",
+                "position the nib",
+                "define writing end",
+                "connect nib to body"
+            ],
+            "semantic_description": "Small translucent whitish tapered plastic collar at the front, with a smooth hard surface and narrow conical shape surrounding the base of the writing tip.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "marker tip",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "write",
+                "draw lines",
+                "transfer ink to surface",
+                "mark surfaces"
+            ],
+            "semantic_description": "Small orange-red felt nib with a matte slightly fibrous texture, protruding from the front as the tiny writing point of the marker.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear end ring",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish rear end",
+                "provide end stop",
+                "protect rear edge",
+                "indicate back orientation"
+            ],
+            "semantic_description": "Small rounded orange plastic ring at the back end, with a glossy smooth hard finish and slightly raised cylindrical shape.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear end face",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close rear opening",
+                "seal back face",
+                "finish the rear end"
+            ],
+            "semantic_description": "Tiny flat orange circular end face on the very back, appearing as a hard smooth plastic surface centered within the rear end ring.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cd4f6060547df6888886db5a3a5f3eb7cc7a6667880f294a245c91980b011bb
+size 3784580