Add asset desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe

.gitattributes

@@ -6376,3 +6376,4 @@ dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affo
 dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/affordance/affordance_annot.json

@@ -0,0 +1,328 @@
+{
+    "affordances": [
+        {
+            "part_name": "base",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base from the sides to pick up and relocate the stapler",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the base to stabilize the stapler while actuating the handle",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "support the stapler",
+                "rest on a desk",
+                "stabilize during stapling",
+                "main structural foundation"
+            ],
+            "semantic_description": "Large rectangular gray painted metal base with a smooth slightly glossy finish and rounded edges, forming the broad bottom platform of the stapler.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_15": {
+                    "confidence": 0.8821702599525452,
+                    "position": [
+                        0.0028715205771732144,
+                        0.11234616185538471,
+                        -0.023849136661738157
+                    ],
+                    "orientation": {
+                        "w": 0.7571114521787355,
+                        "xyz": [
+                            0.65262145826833,
+                            -0.010302708143498429,
+                            0.027592306761757744
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8791612982749939,
+                    "position": [
+                        -0.03884953982924344,
+                        0.031613197876140475,
+                        -0.0904165836982429
+                    ],
+                    "orientation": {
+                        "w": 0.10322965852793124,
+                        "xyz": [
+                            0.20606509986218802,
+                            -0.2084368912645963,
+                            0.9504919118955951
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top handle",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press down on the top handle to actuate the stapler",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp the handle to lift or reposition the stapler lightly",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "press to drive staples",
+                "provide hand actuation surface",
+                "cover the upper staple channel",
+                "assist repositioning"
+            ],
+            "semantic_description": "Long narrow gray metal lever with a semi-gloss finish and embossed chevron tread pattern, mounted along the top as the main pressing surface.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side linkage arm",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hold the side linkage arm carefully to steady the mechanism during maintenance or jam clearing",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "link handle to base",
+                "guide motion",
+                "support the upper mechanism",
+                "transmit actuation force"
+            ],
+            "semantic_description": "Gray painted metal side arm with a smooth semi-gloss surface, extending diagonally between the top handle and the rear portion of the base.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front pillar housing",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front pillar housing to stabilize the stapler during manipulation",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "support the front pivot",
+                "anchor moving parts",
+                "house the front mechanism",
+                "provide structural connection"
+            ],
+            "semantic_description": "Tall blocky gray metal housing at the front of the stapler with a smooth slightly worn finish, enclosing the main front pivot area.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_56": {
+                    "confidence": 0.9033244848251343,
+                    "position": [
+                        0.008641621323477011,
+                        0.11396127636544406,
+                        0.03993144677951932
+                    ],
+                    "orientation": {
+                        "w": 0.5698363128986231,
+                        "xyz": [
+                            0.8157089084077496,
+                            0.0592781940495376,
+                            -0.07994778894106966
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "coil spring",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide return force",
+                "reset the handle",
+                "store spring energy",
+                "assist mechanism motion"
+            ],
+            "semantic_description": "Exposed metallic coil spring with a reflective silver finish and ribbed texture, running horizontally inside the body above the base.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot cap",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the pivot",
+                "retain axle hardware",
+                "protect the joint",
+                "mark pivot location"
+            ],
+            "semantic_description": "Round gray metal cap with a dull smooth finish on top of the front pillar, covering the main pivot point.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear knurled knob",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp and turn the rear knurled knob to adjust or release the rear mechanism",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "adjust rear mechanism",
+                "provide turning grip",
+                "retain rear hardware",
+                "assist release or loading"
+            ],
+            "semantic_description": "Small cylindrical gray metal knob with a knurled edge and matte sheen, located at the rear side of the stapler for fingertip turning.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_72": {
+                    "confidence": 0.4018646478652954,
+                    "position": [
+                        0.09122682012821315,
+                        -0.01341053587384522,
+                        0.051155772525817156
+                    ],
+                    "orientation": {
+                        "w": 0.36092868889791324,
+                        "xyz": [
+                            -0.6332143222012857,
+                            -0.5870433032514794,
+                            0.3523496328892527
+                        ]
+                    }
+                },
+                "grasp_76": {
+                    "confidence": 0.7094544768333435,
+                    "position": [
+                        -0.09956812463497045,
+                        -0.005104732001200318,
+                        0.011148202698677778
+                    ],
+                    "orientation": {
+                        "w": 0.47785945865207835,
+                        "xyz": [
+                            0.5177299857432586,
+                            0.5328991360883574,
+                            0.4686411317792224
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front mounting plate",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount the front housing",
+                "distribute load",
+                "reinforce connection",
+                "support the front assembly"
+            ],
+            "semantic_description": "Small flat dark metal plate fixed on the base beneath the front pillar, acting as a mounting bracket.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "fastener head",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secure parts together",
+                "retain hardware",
+                "reinforce joints"
+            ],
+            "semantic_description": "Tiny circular silver fastener head with a reflective smooth surface, visible as small screw or rivet hardware on the mechanism.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side screw head",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secure side joint",
+                "retain mechanism hardware",
+                "support assembly"
+            ],
+            "semantic_description": "Small round dark metallic screw head on the side of the front housing, visible as exposed fastening hardware.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot washer",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "space rotating parts",
+                "reduce friction at joint",
+                "retain pivot alignment"
+            ],
+            "semantic_description": "Small metallic washer-like ring around a side pivot near the front joint, positioned between moving arm components.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear side bracket",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support rear pivot",
+                "brace the arm",
+                "connect mechanism to base"
+            ],
+            "semantic_description": "Small upright gray metal bracket near the rear side of the base, forming a local support for the moving linkage.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front spacer block",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "space components",
+                "support the front assembly",
+                "separate connected parts"
+            ],
+            "semantic_description": "Tiny pale metallic block beneath the front housing, visible as a compact spacer element at the front mounting area.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle inset panel",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide recessed opening detail",
+                "reduce weight slightly",
+                "mark a distinct handle feature"
+            ],
+            "semantic_description": "Small dark recessed inset/opening on the top handle, visible as a narrow cutout detail rather than a separate control or badge.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts are misidentified or over-specific; rear knob, inset panel, and some tiny hardware labels/functions don\u2019t match the visible stapler geometry."
+    }
+}

dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d13d820f40a93731ce9b7fc94011d2655480212e6a75783ddb494357c518629c
+size 3805096

dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/stapler_030.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>