Add asset desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71

.gitattributes

@@ -6398,3 +6398,4 @@ dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/affo
 dataset/desktop_supplies/office_stationery/86ad8f2486705bad84990abf23ef6d9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/86c8b37f313c509f9b24374b4686a528/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/affordance/affordance_annot.json

@@ -0,0 +1,269 @@
+{
+    "affordances": [
+        {
+            "part_name": "body and top arm housing",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the stapler around the main plastic body from the sides to pick up and move it",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the upper arm and body to stabilize the stapler while positioning it on a desk",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "press down on the top housing during stapling",
+                    "confidence": 0.97
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "provide overall structure",
+                "support pressing for stapling",
+                "enclose and support internal mechanism"
+            ],
+            "semantic_description": "Large black plastic outer housing with a matte to satin finish, covering most of the stapler including the top arm and base body in the segmented views; elongated rectangular form with rounded edges and white brand text visible on the side of the upper arm.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9874781370162964,
+                    "position": [
+                        0.09679081146896351,
+                        0.00835798098705709,
+                        0.01317187026143074
+                    ],
+                    "orientation": {
+                        "w": 0.033839513884679304,
+                        "xyz": [
+                            -0.7426808178301338,
+                            0.020443421512563953,
+                            0.6684774915014504
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9848957061767578,
+                    "position": [
+                        0.020334380169515498,
+                        0.021133866859599948,
+                        -0.10139647498726845
+                    ],
+                    "orientation": {
+                        "w": 0.0033713074754000874,
+                        "xyz": [
+                            0.08470001355708895,
+                            0.017889921756599092,
+                            -0.9962401782145097
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9846231341362,
+                    "position": [
+                        0.008362798442249186,
+                        0.01942337560467422,
+                        -0.10155914351344109
+                    ],
+                    "orientation": {
+                        "w": 0.0012724834011772278,
+                        "xyz": [
+                            -0.03853509560584177,
+                            -0.011538215311857947,
+                            0.999189820194371
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9845064282417297,
+                    "position": [
+                        0.008841012095217593,
+                        0.028265789849683642,
+                        -0.10441148653626442
+                    ],
+                    "orientation": {
+                        "w": 0.011415070536915,
+                        "xyz": [
+                            0.03825986317663253,
+                            0.036774325935655106,
+                            -0.9985256771792705
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9844299554824829,
+                    "position": [
+                        0.021610189651255496,
+                        0.022584750084206462,
+                        -0.09966402128338814
+                    ],
+                    "orientation": {
+                        "w": 0.00324312648058612,
+                        "xyz": [
+                            -0.09193572999683931,
+                            -0.022380342641802886,
+                            0.9955081234946379
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9841242432594299,
+                    "position": [
+                        0.09728406970680226,
+                        -0.0001577264629304409,
+                        0.0013502826914191246
+                    ],
+                    "orientation": {
+                        "w": 0.023426967564650614,
+                        "xyz": [
+                            -0.7142927307124596,
+                            0.01673619833060469,
+                            0.6992545829006064
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9829773902893066,
+                    "position": [
+                        0.10080299382389057,
+                        0.008729175897315145,
+                        -0.00018545659258961678
+                    ],
+                    "orientation": {
+                        "w": 0.7077079137533552,
+                        "xyz": [
+                            -0.026394504615486186,
+                            -0.7060075535160717,
+                            -0.0024846157101978835
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.982768714427948,
+                    "position": [
+                        0.09862568830430973,
+                        0.011569940252229571,
+                        -0.007542590145021677
+                    ],
+                    "orientation": {
+                        "w": 0.023370124612143488,
+                        "xyz": [
+                            -0.6944065964904215,
+                            0.018414142068184702,
+                            0.7189674786790394
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9822386503219604,
+                    "position": [
+                        0.09878593539178837,
+                        -0.0008848127909004688,
+                        3.893161192536354e-05
+                    ],
+                    "orientation": {
+                        "w": 0.7094124943996687,
+                        "xyz": [
+                            -0.015277028827938502,
+                            -0.7046244781271277,
+                            -0.002206808533184078
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "metal staple channel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or pull the exposed metal channel/front section to open the stapler for reloading or clearing a jam",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "lightly hold the front metal section while aligning paper or positioning the stapler",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "guide staples",
+                "support paper insertion",
+                "provide staple loading path",
+                "form part of the working front mechanism"
+            ],
+            "semantic_description": "Small silver metal channel and front plate with a reflective smooth finish, visible at the front and along the inner lower area where staples travel and paper is inserted.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.40220895409584045,
+                    "position": [
+                        0.013773758386378177,
+                        -0.13691618223674595,
+                        -0.005505739478394389
+                    ],
+                    "orientation": {
+                        "w": 0.4929195319242366,
+                        "xyz": [
+                            -0.5022926978714858,
+                            0.5033490473646125,
+                            0.5013702396729517
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.7588599324226379,
+                    "position": [
+                        0.018371193160419352,
+                        -0.1135914318729192,
+                        -0.06011649966239929
+                    ],
+                    "orientation": {
+                        "w": 0.8687879490427315,
+                        "xyz": [
+                            -0.4875202685072875,
+                            -0.07452803553361786,
+                            -0.04446413512265743
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.7381988167762756,
+                    "position": [
+                        -0.0021744328987551853,
+                        -0.12004709173925221,
+                        0.03511219471693039
+                    ],
+                    "orientation": {
+                        "w": 0.04844111799600551,
+                        "xyz": [
+                            -0.016507865342945578,
+                            0.8662202566898387,
+                            0.49703462190204234
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "act as hinge axis",
+                "connect moving sections",
+                "enable opening and closing",
+                "support alignment"
+            ],
+            "semantic_description": "Tiny circular side pin or cap near the rear side of the stapler housing, appearing as a small smooth hinge fastener.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2413ff4c41d6dcb77aa20ea885d244fd378fe2fbdc6f4e14597b9111b63703fc
+size 3780600

dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/stapler_035.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>NO: {"summary":"Main body and base are merged; tiny green dots are noise, not functional parts.","merge_groups":[]}</PartSegChecker>