Add asset desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5

.gitattributes

@@ -6484,3 +6484,4 @@ dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/affo
 dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c072a0b55974573aaa0cc7493d526f36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/affordance/affordance_annot.json

@@ -0,0 +1,391 @@
+{
+    "affordances": [
+        {
+            "part_name": "barrel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the barrel at the center to pick up and hold the pen for repositioning",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "grasp the barrel to stabilize the pen while actuating or inspecting it",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the barrel near the middle to place the pen into a holder or tray",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal ink mechanism",
+                "support writing grip",
+                "connect tip and rear end"
+            ],
+            "semantic_description": "Long black cylindrical body, likely plastic or lacquered metal, with a smooth slightly glossy hard finish and gold accents, forming the largest central section of the pen.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9917080998420715,
+                    "position": [
+                        -0.02073119580745697,
+                        -0.09706626225670334,
+                        -0.015953694630297832
+                    ],
+                    "orientation": {
+                        "w": 0.5316844344860723,
+                        "xyz": [
+                            -0.4648437904013174,
+                            -0.4521132772292712,
+                            -0.5448169391672488
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9905945062637329,
+                    "position": [
+                        0.003146212548017502,
+                        -0.0901718004461145,
+                        -0.025417401615413837
+                    ],
+                    "orientation": {
+                        "w": 0.6311555352620355,
+                        "xyz": [
+                            -0.3487770578206408,
+                            -0.5039742291908476,
+                            -0.47540217769543486
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9901179671287537,
+                    "position": [
+                        0.003537885844707489,
+                        -0.08250334997137543,
+                        0.04995695951220114
+                    ],
+                    "orientation": {
+                        "w": 0.37135780860618856,
+                        "xyz": [
+                            -0.5830680710210981,
+                            -0.6629780065653846,
+                            -0.2873763479368716
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9901019334793091,
+                    "position": [
+                        -0.004934291471727192,
+                        -0.0830813138600206,
+                        0.05079263153311331
+                    ],
+                    "orientation": {
+                        "w": 0.344739133243068,
+                        "xyz": [
+                            -0.5842811461598166,
+                            -0.6594105938189582,
+                            -0.32395700488231105
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9900404810905457,
+                    "position": [
+                        -0.005349802202545106,
+                        -0.041807734858593903,
+                        0.08798611986276228
+                    ],
+                    "orientation": {
+                        "w": 0.16399493451409405,
+                        "xyz": [
+                            -0.6792203048388442,
+                            -0.7017667600407117,
+                            -0.1388843167902977
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9900028705596924,
+                    "position": [
+                        -0.013650712557137012,
+                        -0.09072022278269287,
+                        0.04049110862251837
+                    ],
+                    "orientation": {
+                        "w": 0.375010088830338,
+                        "xyz": [
+                            -0.5854272593397518,
+                            -0.6086061305152245,
+                            -0.3824146116412063
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.98972088098526,
+                    "position": [
+                        0.017668724060058594,
+                        0.09494184564391617,
+                        0.016993741344776936
+                    ],
+                    "orientation": {
+                        "w": 0.4467128450261087,
+                        "xyz": [
+                            0.555870674638234,
+                            0.5291792394181133,
+                            -0.4598094819974694
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.989469051361084,
+                    "position": [
+                        -0.031693512573838234,
+                        -0.09898693997820374,
+                        -0.009587719265255146
+                    ],
+                    "orientation": {
+                        "w": 0.5337183402926837,
+                        "xyz": [
+                            -0.48971119102356586,
+                            0.4703554469694733,
+                            0.5040768157013875
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9894177317619324,
+                    "position": [
+                        0.023507172241806984,
+                        0.09042414884606842,
+                        0.01807608532544691
+                    ],
+                    "orientation": {
+                        "w": 0.5408371073562568,
+                        "xyz": [
+                            0.44672900903496293,
+                            -0.6309891102424368,
+                            0.33133239888156835
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9892488718032837,
+                    "position": [
+                        0.009413091465830803,
+                        -0.08803720165451523,
+                        -0.04145878848794382
+                    ],
+                    "orientation": {
+                        "w": 0.6098572987927293,
+                        "xyz": [
+                            -0.3424340481817075,
+                            -0.405634194575615,
+                            -0.5884504209753925
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "writing tip",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "write on surfaces",
+                "dispense ink at contact point",
+                "provide fine marking point",
+                "indicate writing end"
+            ],
+            "semantic_description": "Tapered gold-colored metal front section with a reflective smooth hard surface and a small visible ballpoint tip at the writing end.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear end cap",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the rear end to orient the pen before a main grasp",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch the rear cap to pull or nudge the pen from a tight space",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "close the back end",
+                "protect internal mechanism",
+                "provide end-stop shape",
+                "indicate pen orientation"
+            ],
+            "semantic_description": "Short black rear end piece near the non-writing end, with a smooth slightly glossy hard finish and a narrow gold band at its front edge.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.8645128011703491,
+                    "position": [
+                        -0.1207757517695427,
+                        -0.04250741515716072,
+                        -0.07045394850138109
+                    ],
+                    "orientation": {
+                        "w": 0.7245095487124898,
+                        "xyz": [
+                            0.010491149392962576,
+                            0.3748316134528604,
+                            0.5783399615841572
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.7542070746421814,
+                    "position": [
+                        -0.15182606130838394,
+                        0.005016773022362031,
+                        -0.04689998475078028
+                    ],
+                    "orientation": {
+                        "w": 0.6855924963686681,
+                        "xyz": [
+                            -0.2746745291279182,
+                            0.4261171414790771,
+                            -0.5224375691975403
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.7373929023742676,
+                    "position": [
+                        -0.14912448078393936,
+                        -0.0190687565918779,
+                        -0.04918298793199938
+                    ],
+                    "orientation": {
+                        "w": 0.7022075646834894,
+                        "xyz": [
+                            0.2152907841183945,
+                            0.43430127963013054,
+                            0.5214756110180045
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.812600314617157,
+                    "position": [
+                        -0.14978579431772232,
+                        -0.006340439882478677,
+                        -0.048838461909326725
+                    ],
+                    "orientation": {
+                        "w": 0.6514993127755806,
+                        "xyz": [
+                            -0.3443926908728419,
+                            0.36078509242473833,
+                            -0.5716436276303468
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.7927733659744263,
+                    "position": [
+                        -0.08670059591531754,
+                        0.09024853121081833,
+                        0.033327330675092526
+                    ],
+                    "orientation": {
+                        "w": 0.34592108290163953,
+                        "xyz": [
+                            0.6312535413390196,
+                            -0.519636163761157,
+                            0.4602562636865367
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "clip",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the clip to lift or extract the pen from a pocket-like slot",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold the clip lightly to stabilize the pen during orientation adjustment",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "attach pen to pocket",
+                "retain pen against fabric or case edge",
+                "aid retrieval from slots",
+                "indicate side orientation"
+            ],
+            "semantic_description": "Slim gold-colored metal clip with a reflective smooth hard surface, mounted along the side of the barrel and slightly raised from the body.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front trim ring",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative trim",
+                "mark the transition between barrel and tip section",
+                "accent the barrel exterior",
+                "indicate the front section"
+            ],
+            "semantic_description": "Narrow gold-colored ring around the pen near the writing tip, with a reflective metallic finish encircling the body.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "actuate pen mechanism",
+                "extend or retract writing tip",
+                "provide control input",
+                "indicate active side"
+            ],
+            "semantic_description": "Small elongated side actuator on the barrel, likely black or dark-colored, flush to slightly raised from the surface near the rear half of the pen.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top finial",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly pinch the very top end to reorient the pen or nudge it into position",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "finish the pen top",
+                "cover the very end",
+                "provide decorative accent",
+                "indicate top orientation"
+            ],
+            "semantic_description": "Small dark rounded terminal piece at the very back end of the pen, with a smooth hard finish.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green side part is clip, not button; yellow ring is trim, not clip; pen appears capped, not ballpoint tip."
+    }
+}

dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd575e0a4f1cd600f4c3402e1748c8eea46d39d0ebc3f379b202a96dcc4a6a91
+size 410996