Add asset desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7

.gitattributes

@@ -6634,4 +6634,5 @@ dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/affordanc
 dataset/desktop_supplies/office_tools/ac403a08cf5f547295d2c32246594264/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/b7b0d75f5ae5504a9c2ff89e240c5273/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/b501c5f9ae3f5c1d9f0e6257652f4229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/affordance/affordance_annot.json

@@ -0,0 +1,310 @@
+{
+    "affordances": [
+        {
+            "part_name": "lens",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "magnify viewed objects",
+                "transmit light",
+                "enable close inspection"
+            ],
+            "semantic_description": "Large circular pale bluish transparent lens with a smooth glossy surface, centered in the magnifier head and occupying most of the head area.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and carry the magnifier",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to orient the lens over an object for inspection",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the magnifier while setting it down",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "support lifting",
+                "enable aiming of lens",
+                "connect hand to magnifier head"
+            ],
+            "semantic_description": "Medium-length light orange plastic handle with a smooth slightly glossy surface, attached to the magnifier head and ending in a rounded looped tip, with a small face-like printed marking near the middle.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9709406495094299,
+                    "position": [
+                        0.05530659994110465,
+                        -0.0987645119894296,
+                        0.0003357433306518942
+                    ],
+                    "orientation": {
+                        "w": 0.46895629316575715,
+                        "xyz": [
+                            -0.5273978388766487,
+                            0.4714428699781872,
+                            0.5288413136236642
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9671516418457031,
+                    "position": [
+                        0.10041966428980231,
+                        -0.0814893797505647,
+                        -0.0023365791712421924
+                    ],
+                    "orientation": {
+                        "w": 0.32650905450189466,
+                        "xyz": [
+                            -0.6224511233181668,
+                            0.33623151503677084,
+                            0.6268132135686906
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.966911256313324,
+                    "position": [
+                        0.10264758905395865,
+                        -0.0823823765385896,
+                        -0.0016772486560512334
+                    ],
+                    "orientation": {
+                        "w": 0.6292570743331372,
+                        "xyz": [
+                            -0.33818901613307634,
+                            -0.6197399972333595,
+                            -0.324940086166416
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9661386609077454,
+                    "position": [
+                        0.10386005183681846,
+                        -0.08612832729704678,
+                        -0.0021876027167309076
+                    ],
+                    "orientation": {
+                        "w": 0.6294224808192005,
+                        "xyz": [
+                            -0.34025516247915605,
+                            -0.6129207025517491,
+                            -0.33523421279630256
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "outer frame",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the outer rim to reposition the magnifier on a surface",
+                    "confidence": 0.44
+                },
+                {
+                    "scenario": "grasp the frame edge to steady the head during manipulation",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "hold lens assembly in place",
+                "protect lens edge",
+                "provide head structure",
+                "support attachment to handle"
+            ],
+            "semantic_description": "Thick circular pale lavender to off-white plastic rim with a smooth glossy finish, forming the outermost border and sidewall of the magnifier head around the lens.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.6835857033729553,
+                    "position": [
+                        -0.11849164823070168,
+                        0.0018884020391851664,
+                        -0.0013127315614838153
+                    ],
+                    "orientation": {
+                        "w": 0.4912564969732209,
+                        "xyz": [
+                            0.5165929726200074,
+                            0.49199618071369533,
+                            0.49973844457311956
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.6041802763938904,
+                    "position": [
+                        -0.09984740475192666,
+                        0.004710308508947492,
+                        -0.04646369724650867
+                    ],
+                    "orientation": {
+                        "w": 0.6278003457048009,
+                        "xyz": [
+                            0.37449239130300377,
+                            0.3537343592553661,
+                            0.5835187896471598
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.775774359703064,
+                    "position": [
+                        -0.11618517944589257,
+                        0.0056673630606383085,
+                        -0.049386936269002035
+                    ],
+                    "orientation": {
+                        "w": 0.5785843991196568,
+                        "xyz": [
+                            -0.3469460381007403,
+                            0.35585581091270513,
+                            -0.6467110495276899
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.749992311000824,
+                    "position": [
+                        -0.1160192103125155,
+                        -9.783095447346568e-05,
+                        0.04346188993076794
+                    ],
+                    "orientation": {
+                        "w": 0.37729886199126556,
+                        "xyz": [
+                            -0.5985203127978937,
+                            0.5948033015059884,
+                            -0.3816124164987083
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.7443051934242249,
+                    "position": [
+                        -0.10866694757714868,
+                        -0.012552023166790605,
+                        0.04364644453744404
+                    ],
+                    "orientation": {
+                        "w": 0.34670448165947676,
+                        "xyz": [
+                            0.5686983120396095,
+                            0.6420784699308967,
+                            0.379622800595184
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.7140204310417175,
+                    "position": [
+                        -0.04197558620944619,
+                        -0.0970642298925668,
+                        0.00011150175123475492
+                    ],
+                    "orientation": {
+                        "w": 0.613145341072129,
+                        "xyz": [
+                            -0.36167157103148445,
+                            0.6063895842499152,
+                            0.35431361467261635
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.6406740546226501,
+                    "position": [
+                        -0.09960439661517739,
+                        -0.021251111524179578,
+                        0.052235920884413645
+                    ],
+                    "orientation": {
+                        "w": 0.3227963320559161,
+                        "xyz": [
+                            0.540362792381755,
+                            0.6826375742648866,
+                            0.3712364783024299
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.5128570795059204,
+                    "position": [
+                        -0.09729264536872506,
+                        -0.04451702837832272,
+                        0.04553303585271351
+                    ],
+                    "orientation": {
+                        "w": 0.2676381972372463,
+                        "xyz": [
+                            0.5054410010139693,
+                            0.6872083519561497,
+                            0.4479328865748819
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front trim ring",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide front trim around lens",
+                "cover transition between lens and frame",
+                "finish the lens opening"
+            ],
+            "semantic_description": "Thin orange-peach glossy ring visible on the front face around the perimeter of the lens, just inside the outer frame.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner sidewall ring",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form inner wall of lens housing",
+                "provide housing thickness",
+                "support lens seating"
+            ],
+            "semantic_description": "Pale pink to lavender ring visible mainly from angled side views between the front trim ring and the outer frame, forming part of the layered head thickness.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle insert",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorative accent",
+                "visual marker on handle",
+                "molded handle detail"
+            ],
+            "semantic_description": "Small teal oval insert on the front side of the handle, appearing as a smooth slightly glossy detail near the center.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-part identities and visual descriptions are wrong; magenta/pink rings are swapped and colors for frame/rings are inaccurate."
+    }
+}

dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec507b6b3de0c46951e3e32a32415b8da38fc5b7c8b392bfe80c4bfbd3b9a10b
+size 3802108

dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/magnifier_007.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>