Add asset desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93

.gitattributes

@@ -6536,4 +6536,4 @@ dataset/desktop_supplies/office_tools/230e97eec7db5cc28dfc28df0f5cec21/affordanc
 dataset/desktop_supplies/office_tools/22540a6b064859cc8572e6775ae386a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/23224eaa703851d28989151c1baac0fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/affordance/affordance_annot.json

@@ -0,0 +1,317 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and reposition the magnifier",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to aim the lens over an object for inspection",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the magnifier during use",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide main handhold",
+                "support lifting and carrying",
+                "position the lens",
+                "stabilize the magnifier during viewing"
+            ],
+            "semantic_description": "Long off-white or cream handle with a smooth matte surface, tapered and slightly rounded, attached to the lens frame and forming the main grip area.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9229971766471863,
+                    "position": [
+                        0.04407979128882289,
+                        -0.1198252635076642,
+                        -0.0004142804609728046
+                    ],
+                    "orientation": {
+                        "w": 0.3874501380677351,
+                        "xyz": [
+                            -0.6076995349955823,
+                            0.35669859538705107,
+                            0.5944323155131717
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9225618839263916,
+                    "position": [
+                        0.036021608393639326,
+                        -0.12879616487771273,
+                        -0.0052386138995643705
+                    ],
+                    "orientation": {
+                        "w": 0.39765648153222105,
+                        "xyz": [
+                            -0.5675363538942805,
+                            0.3873412663461996,
+                            0.6080613070152736
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9208809733390808,
+                    "position": [
+                        0.04411650029942393,
+                        -0.1206787871196866,
+                        -0.00031079623295227066
+                    ],
+                    "orientation": {
+                        "w": 0.39185609199707705,
+                        "xyz": [
+                            -0.6051226943575108,
+                            0.35586864123901585,
+                            0.5946703608899485
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.920624315738678,
+                    "position": [
+                        0.04732425091788173,
+                        -0.1214783238247037,
+                        -0.005320270865922794
+                    ],
+                    "orientation": {
+                        "w": 0.36728507873385563,
+                        "xyz": [
+                            -0.6060770869467391,
+                            0.343671459965175,
+                            0.6161673175550817
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9194870591163635,
+                    "position": [
+                        0.03938003582879901,
+                        -0.1272095637395978,
+                        -0.004730270098662004
+                    ],
+                    "orientation": {
+                        "w": 0.39498285832357044,
+                        "xyz": [
+                            -0.5802210049089344,
+                            0.37533075873820776,
+                            0.605358529004102
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9079686403274536,
+                    "position": [
+                        0.030602905433624983,
+                        -0.13217582274228334,
+                        -0.009232079464709386
+                    ],
+                    "orientation": {
+                        "w": 0.42093326966069533,
+                        "xyz": [
+                            -0.5470195662340049,
+                            0.40026095358692826,
+                            0.6028067233231564
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9069339036941528,
+                    "position": [
+                        0.049956734757870436,
+                        -0.11257501412183046,
+                        -0.003496270248433575
+                    ],
+                    "orientation": {
+                        "w": 0.36016868238919614,
+                        "xyz": [
+                            -0.6050914618595371,
+                            0.345421578786706,
+                            0.6203440786524991
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9067699909210205,
+                    "position": [
+                        -0.013554396573454142,
+                        -0.1346532003954053,
+                        -0.0034335733798798174
+                    ],
+                    "orientation": {
+                        "w": 0.5410781831341928,
+                        "xyz": [
+                            -0.4579224002046524,
+                            0.519306592893799,
+                            0.4773490732200554
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8966383934020996,
+                    "position": [
+                        -0.010946656111627817,
+                        -0.13534668553620577,
+                        0.00026228479691781104
+                    ],
+                    "orientation": {
+                        "w": 0.5434354833096385,
+                        "xyz": [
+                            -0.49105740278962395,
+                            0.5086883073451424,
+                            0.45252260564071545
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lens",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "magnify viewed objects",
+                "transmit light for viewing",
+                "provide viewing area"
+            ],
+            "semantic_description": "Large circular transparent lens with a smooth glossy surface, set centrally within the head and appearing clear to pale gray from reflections.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lens frame",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the frame to briefly reposition the magnifier when the handle is obstructed",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the frame to steady the head during adjustment or placement",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "hold the lens",
+                "protect lens edge",
+                "connect lens to handle",
+                "provide structural support"
+            ],
+            "semantic_description": "Round silver-toned metal rim with a reflective smooth finish encircling the lens, rigid and located at the head of the magnifier.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.19860006868839264,
+                    "position": [
+                        0.03671275777742267,
+                        0.11811425816267729,
+                        -0.037360315065598115
+                    ],
+                    "orientation": {
+                        "w": 0.10585993901644615,
+                        "xyz": [
+                            -0.10851920631364831,
+                            -0.5372536600928146,
+                            0.8296841326006933
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.9730008244514465,
+                    "position": [
+                        0.0947035807184875,
+                        0.007789467461407185,
+                        -0.0031031308171804994
+                    ],
+                    "orientation": {
+                        "w": 0.7185799325259828,
+                        "xyz": [
+                            -0.01725934733857265,
+                            -0.6944322020189466,
+                            -0.033300334825902
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle collar",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect handle to frame",
+                "reinforce joint",
+                "support load transfer"
+            ],
+            "semantic_description": "Small off-white to cream collar-like joint piece at the junction between the handle and the lens frame, appearing as a narrow ring around the neck area.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner retaining ring",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secure lens in frame",
+                "retain lens at the inner edge",
+                "provide inner support"
+            ],
+            "semantic_description": "Thin silver or gray retaining ring lining the inner edge of the frame around the lens, visible as a narrow border inside the outer rim.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side screw",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small side screw to make a minor adjustment or turn it",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "use the protruding side screw as a small contact point while reorienting the magnifier head",
+                    "confidence": 0.2
+                }
+            ],
+            "functional_labels": [
+                "provide a fastening point",
+                "allow minor adjustment or tightening",
+                "assist assembly of the frame"
+            ],
+            "semantic_description": "Small silver-toned protruding screw-like part on the outer side of the frame, cylindrical and slightly rounded.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle tip cap",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish handle end",
+                "protect handle tip",
+                "provide minor contact buffer"
+            ],
+            "semantic_description": "Small rounded off-white or cream end cap at the tapered tip of the handle, matching the handle body closely.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several visual descriptions mismatch colors/materials; inner ring and tip cap are not distinct physical parts in RGB."
+    }
+}

dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
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+size 3788416