Add asset desktop_supplies/office_tools/ef5ac291b107539fab7abcdab5946bb5

.gitattributes

@@ -6683,4 +6683,4 @@ dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/affordanc
 dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/ef5ac291b107539fab7abcdab5946bb5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/ef5ac291b107539fab7abcdab5946bb5/affordance/affordance_annot.json

@@ -0,0 +1,310 @@
+{
+    "affordances": [
+        {
+            "part_name": "mirror housing",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer housing to pick up and reposition the tabletop mirror",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the housing while adjusting the tilt angle",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "support the mirror assembly",
+                "protect the mirror perimeter",
+                "provide structural frame",
+                "serve as a grasp point for repositioning"
+            ],
+            "semantic_description": "Large oval pastel-pink plastic housing with a smooth glossy finish, forming the main body around the mirror at the top of the object.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.940005898475647,
+                    "position": [
+                        0.07231088331900537,
+                        0.0196729248855263,
+                        0.18918675184249878
+                    ],
+                    "orientation": {
+                        "w": 0.03133184512180928,
+                        "xyz": [
+                            0.7126339552911949,
+                            0.7002480629106577,
+                            -0.028702119036089983
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8825768828392029,
+                    "position": [
+                        -0.020880857715383172,
+                        0.026551157468929887,
+                        0.201638862490654
+                    ],
+                    "orientation": {
+                        "w": 0.06651276280521774,
+                        "xyz": [
+                            -0.7079848348779312,
+                            -0.6918689514091887,
+                            0.12510347734109956
+                        ]
+                    }
+                },
+                "grasp_44": {
+                    "confidence": 0.9105570316314697,
+                    "position": [
+                        -0.03732717060483992,
+                        0.021465087542310357,
+                        0.21165423095226288
+                    ],
+                    "orientation": {
+                        "w": 0.059974019360990366,
+                        "xyz": [
+                            -0.7086473939262851,
+                            0.7001204519115052,
+                            -0.06366585347265864
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "reflective mirror surface",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide reflection",
+                "enable viewing details",
+                "present the optical surface"
+            ],
+            "semantic_description": "Oval reflective mirror surface, smooth and glossy, appearing pale pink to light gray depending on the viewing angle, inset within the front of the upper housing.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front light ring",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "border the mirror opening",
+                "provide illumination around the mirror",
+                "serve as a visual accent"
+            ],
+            "semantic_description": "Thin pale cream to off-white illuminated-looking ring around the mirror front, smooth and glossy, visible as a narrow border inside the pink housing.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner trim bezel",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain the mirror insert",
+                "border the reflective panel",
+                "provide a finished transition"
+            ],
+            "semantic_description": "Narrow darker pink inner rim surrounding the mirror panel just inside the housing opening, smooth and glossy.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side adjustment knob",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small side knob while adjusting the mirror tilt",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "briefly hold the knob to stabilize the side pivot during repositioning",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "assist tilt adjustment",
+                "act as side pivot fastener",
+                "help stabilize mirror angle"
+            ],
+            "semantic_description": "Small round pastel-pink side knob with a glossy plastic finish, protruding from the pivot area on each side of the mirror housing.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side hinge cap",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the hinge joint",
+                "finish the pivot area",
+                "protect hinge hardware"
+            ],
+            "semantic_description": "Small rounded pastel-pink cap at the side pivot area, smooth and glossy, adjacent to the side knob and slightly smaller.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "support neck",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the neck to lift and reposition the mirror",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the neck while orienting the mirror assembly",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "connect mirror to base",
+                "support the elevated mirror",
+                "provide a support link"
+            ],
+            "semantic_description": "Short cylindrical pastel-pink support post with a smooth glossy plastic finish, centered between the mirror housing and the circular base.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_47": {
+                    "confidence": 0.0804818719625473,
+                    "position": [
+                        -0.07653362699784338,
+                        0.06356436782516539,
+                        -0.12260391563177109
+                    ],
+                    "orientation": {
+                        "w": 0.36521301346154383,
+                        "xyz": [
+                            -0.26406901617360995,
+                            0.6117093043762168,
+                            -0.6501528562076803
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "neck pivot joint",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enable articulation",
+                "connect moving sections",
+                "stabilize the support linkage"
+            ],
+            "semantic_description": "Small rounded pastel-pink connector near the top of the support post, forming the pivoting joint below the mirror housing.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the broad base edge to pick up the mirror from below",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the base to stabilize the object while adjusting the mirror",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide support",
+                "stabilize on a surface",
+                "serve as the resting base"
+            ],
+            "semantic_description": "Wide circular pastel-pink plastic base rim with a glossy smooth finish, broad and flat to support the mirror upright on a tabletop.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.910912036895752,
+                    "position": [
+                        -0.08131457515992224,
+                        -0.14314810163341463,
+                        -0.21100793778896332
+                    ],
+                    "orientation": {
+                        "w": 0.6652895583249292,
+                        "xyz": [
+                            -0.3014933773652951,
+                            0.4988261629394267,
+                            0.4665447525755879
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base top panel",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the top surface of the base",
+                "cover the base interior",
+                "provide a finished stand surface"
+            ],
+            "semantic_description": "Recessed circular top panel within the base, light pink and glossy, centered beneath the support neck.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base center pad",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the center area",
+                "conceal a fastener area",
+                "provide a finished detail"
+            ],
+            "semantic_description": "Small circular center detail within the base top panel, slightly recessed or outlined, light pink and glossy, positioned concentrically.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge bracket",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect housing to support",
+                "anchor the side pivots",
+                "transmit tilt motion"
+            ],
+            "semantic_description": "Curved pastel-pink glossy bracket under the mirror housing, linking the side pivot region to the central support structure.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner side frame strip",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the inner side edge",
+                "protect the mirror perimeter",
+                "finish the housing profile"
+            ],
+            "semantic_description": "Slim darker pink to purplish band visible along the inner side edge region of the mirror body, smooth and glossy.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color part identities are mismatched; mirror/light ring/bezel and side parts are incorrectly assigned."
+    }
+}

dataset/desktop_supplies/office_tools/ef5ac291b107539fab7abcdab5946bb5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e4924176789cc09f10e3c53f1e0effc532e7a780feb7c26e649ebaefde23508
+size 3795560

dataset/desktop_supplies/office_tools/ef5ac291b107539fab7abcdab5946bb5/magnifier_020.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>