Add asset desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478

.gitattributes

@@ -6520,3 +6520,4 @@ dataset/desktop_supplies/office_stationery/d93088b38bcc572a88997b7f633b2970/affo
 dataset/desktop_supplies/office_tools/1542d81a50bc5390a125704defc23294/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/18e6409ade2353f68584e7747dfcd2b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/affordance/affordance_annot.json

@@ -0,0 +1,320 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the lid to open the organizer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the lid while accessing the compartments",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the contents",
+                "protect stored items",
+                "open for access",
+                "provide top closure"
+            ],
+            "semantic_description": "Large translucent frosted clear plastic top panel with a smooth slightly glossy surface and rounded rectangular shape, forming the hinged upper cover of the organizer box.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9474504590034485,
+                    "position": [
+                        0.005174093414098024,
+                        -0.07658086372975959,
+                        0.13449858222156763
+                    ],
+                    "orientation": {
+                        "w": 0.22217090344977714,
+                        "xyz": [
+                            -0.9731856438920556,
+                            0.0016273538621082162,
+                            0.0595579037754201
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9462419152259827,
+                    "position": [
+                        0.01539537776261568,
+                        -0.10540265245799674,
+                        0.10608781967312098
+                    ],
+                    "orientation": {
+                        "w": 0.41750073319719816,
+                        "xyz": [
+                            -0.8951133544381339,
+                            0.06092873007430616,
+                            0.14405870448482513
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9454740881919861,
+                    "position": [
+                        0.018085511401295662,
+                        -0.07484671129350318,
+                        0.1299459347501397
+                    ],
+                    "orientation": {
+                        "w": 0.2298580938579204,
+                        "xyz": [
+                            -0.9660102514592039,
+                            0.014021409372115823,
+                            0.11744296846958763
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9378277063369751,
+                    "position": [
+                        0.020892072468996048,
+                        -0.07519545807008399,
+                        0.13251170609146357
+                    ],
+                    "orientation": {
+                        "w": 0.2115748036837187,
+                        "xyz": [
+                            -0.9688973353799711,
+                            0.01685317900048522,
+                            0.12724003417700508
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9374450445175171,
+                    "position": [
+                        -0.02220212295651436,
+                        -0.13084937287931098,
+                        0.031248769722878933
+                    ],
+                    "orientation": {
+                        "w": 0.05679298580298093,
+                        "xyz": [
+                            0.04959088393253612,
+                            0.7027506481779414,
+                            0.7074297332455399
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9346054196357727,
+                    "position": [
+                        0.004766453988850117,
+                        -0.06872856272821082,
+                        0.13265581522136927
+                    ],
+                    "orientation": {
+                        "w": 0.06823986593550281,
+                        "xyz": [
+                            -0.010002202012066709,
+                            -0.9691693146608096,
+                            -0.23654622417597562
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9336111545562744,
+                    "position": [
+                        0.000927763685467653,
+                        -0.12100887699489249,
+                        0.08538030926138163
+                    ],
+                    "orientation": {
+                        "w": 0.5241573692345318,
+                        "xyz": [
+                            -0.8487618282237392,
+                            0.04389859523485129,
+                            0.054178635677150984
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9319180250167847,
+                    "position": [
+                        0.00029901089146733284,
+                        -0.07856573565368308,
+                        0.1353814760223031
+                    ],
+                    "orientation": {
+                        "w": 0.22223633656075714,
+                        "xyz": [
+                            -0.9741274578145729,
+                            -0.025746260856701064,
+                            0.03199744826810392
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9315736889839172,
+                    "position": [
+                        -0.00331520801410079,
+                        -0.07956135673885001,
+                        0.12355633173137903
+                    ],
+                    "orientation": {
+                        "w": 0.2681758404816646,
+                        "xyz": [
+                            -0.9620814143317247,
+                            0.031098991273461718,
+                            0.03890917014270989
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "box base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the box base from the sides to pick up the container",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the base steady while opening or closing the lid",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "contain small items",
+                "support the organizer",
+                "provide main grasp surface",
+                "stabilize the box"
+            ],
+            "semantic_description": "Large translucent clear plastic lower container with smooth slightly glossy walls and a rounded rectangular tub shape, forming the main storage body around the colored compartments.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.9519545435905457,
+                    "position": [
+                        0.11696192063391209,
+                        0.03604256705875741,
+                        -0.03093391191214323
+                    ],
+                    "orientation": {
+                        "w": 0.7907923651287071,
+                        "xyz": [
+                            0.033378200649636036,
+                            -0.6107458852212141,
+                            0.022864703385220727
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.943321704864502,
+                    "position": [
+                        0.1153289396315813,
+                        0.028981808289245237,
+                        -0.03589631523936987
+                    ],
+                    "orientation": {
+                        "w": 0.7961855425551168,
+                        "xyz": [
+                            0.019779326829060757,
+                            -0.604718506285438,
+                            0.003590015642334614
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.9431421160697937,
+                    "position": [
+                        0.10903231240808964,
+                        -0.037452318058058154,
+                        -0.041445414535701275
+                    ],
+                    "orientation": {
+                        "w": 0.8051694317390521,
+                        "xyz": [
+                            -0.1274408433722056,
+                            -0.5748807201380967,
+                            -0.0705207433816185
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9425497651100159,
+                    "position": [
+                        0.11151775903999805,
+                        -0.02022748282615794,
+                        -0.040061051957309246
+                    ],
+                    "orientation": {
+                        "w": 0.8142256573341895,
+                        "xyz": [
+                            -0.03943725538049935,
+                            -0.5786433842094794,
+                            -0.025556129154506
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9422972202301025,
+                    "position": [
+                        0.10226383246481419,
+                        0.08699698345299112,
+                        -0.03192035015672445
+                    ],
+                    "orientation": {
+                        "w": 0.24184923048619847,
+                        "xyz": [
+                            0.5953797398317184,
+                            0.1686077483775268,
+                            -0.7473977136024766
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "latch",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or pull the front latch to unlatch and open the box",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "press the latch into place to secure the lid closed",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "lock the lid",
+                "release the closure",
+                "secure the contents",
+                "provide opening control"
+            ],
+            "semantic_description": "Small translucent plastic latch pieces with a smooth glossy finish located along the front edge near the lid-base interface, protruding slightly as compact closure tabs.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "internal divider",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate compartments",
+                "organize small items",
+                "partition the interior"
+            ],
+            "semantic_description": "Thin colored plastic compartment wall inside the base, visible as a slim interior partition among the organizer's small storage sections.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Internal divider description is inaccurate; mask marks removable compartment inserts, not walls/dividers."
+    }
+}

dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:692464ca135767e474eee0725cb85b82c53b7c847a43dcafb1ad5aff18265de6
+size 3783612

dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/staples_box_020.urdf

@@ -58,6 +58,7 @@
                <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>