Add asset desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1

.gitattributes

@@ -6490,3 +6490,4 @@ dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/affo
 dataset/desktop_supplies/office_stationery/c203ad33d8915fe5baeb65e548c7685d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/affordance/affordance_annot.json

@@ -0,0 +1,373 @@
+{
+    "affordances": [
+        {
+            "part_name": "sharpener body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer body to pick up and reposition the sharpener",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body steady while inserting and twisting a pencil",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "main housing",
+                "support internal blade assembly",
+                "provide primary grasp surface",
+                "enclose shavings cavity"
+            ],
+            "semantic_description": "Large rounded blue plastic body with a matte to satin finish and smooth hard surface, forming the main capsule-shaped housing with white branding text and a red oval logo on the side.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8492088913917542,
+                    "position": [
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+                        0.1148865397553891,
+                        -0.006235163891687989
+                    ],
+                    "orientation": {
+                        "w": 0.36801272282785774,
+                        "xyz": [
+                            0.5790337899211849,
+                            0.3932678347801294,
+                            -0.612067738157865
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.849078357219696,
+                    "position": [
+                        0.10749045200645924,
+                        0.11228572833351791,
+                        -0.004826842108741403
+                    ],
+                    "orientation": {
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+                        "xyz": [
+                            0.5845966147555095,
+                            0.3900383925176536,
+                            -0.612570509499292
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.8428154587745667,
+                    "position": [
+                        0.09761994518339634,
+                        0.11618889379315078,
+                        -0.009134846040979028
+                    ],
+                    "orientation": {
+                        "w": 0.3921312653562416,
+                        "xyz": [
+                            0.5604227921011475,
+                            0.4030088382492908,
+                            -0.6080651619001239
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.835830569267273,
+                    "position": [
+                        0.1041871327906847,
+                        0.11559818941168487,
+                        -0.0012386811431497335
+                    ],
+                    "orientation": {
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+                        "xyz": [
+                            0.5861305801711465,
+                            0.39560522226821504,
+                            -0.6075471155055631
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8332041501998901,
+                    "position": [
+                        0.10009975917637348,
+                        0.11594361322931945,
+                        -0.0025361666921526194
+                    ],
+                    "orientation": {
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+                        "xyz": [
+                            0.5814130374928956,
+                            0.39773293644732866,
+                            -0.6083413745210106
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.8324122428894043,
+                    "position": [
+                        0.10818765498697758,
+                        0.1094534199219197,
+                        -0.00481305574066937
+                    ],
+                    "orientation": {
+                        "w": 0.3603070735528577,
+                        "xyz": [
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+                            0.3904817726465786,
+                            -0.6140481043748005
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.832362949848175,
+                    "position": [
+                        0.10691890306770802,
+                        0.10936860996298492,
+                        -0.002559273736551404
+                    ],
+                    "orientation": {
+                        "w": 0.3568819553353721,
+                        "xyz": [
+                            0.5887207138596803,
+                            0.39339207991031433,
+                            -0.6093323087547439
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.830193817615509,
+                    "position": [
+                        0.09866067208349705,
+                        0.11595621961168945,
+                        -0.0015114173293113708
+                    ],
+                    "orientation": {
+                        "w": 0.3644652594796185,
+                        "xyz": [
+                            0.5849400004645772,
+                            0.39869909966066464,
+                            -0.6050200810045323
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8239849805831909,
+                    "position": [
+                        0.08507865853607655,
+                        0.12005335348658264,
+                        -0.00675225374288857
+                    ],
+                    "orientation": {
+                        "w": 0.41488631421273114,
+                        "xyz": [
+                            0.5399789098380321,
+                            0.44172660600852054,
+                            -0.5840973623920064
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.8234782814979553,
+                    "position": [
+                        0.1120921690016985,
+                        0.1175948407035321,
+                        -0.003071046667173505
+                    ],
+                    "orientation": {
+                        "w": 0.3675777491758978,
+                        "xyz": [
+                            0.5805448637324963,
+                            0.3998221948280334,
+                            -0.6066271276719267
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.8230937123298645,
+                    "position": [
+                        0.1578350681811571,
+                        0.07952752965502441,
+                        -0.009057411225512624
+                    ],
+                    "orientation": {
+                        "w": 0.190080316649007,
+                        "xyz": [
+                            0.6574157117235963,
+                            0.19740066070426532,
+                            -0.7019309327527101
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.821155309677124,
+                    "position": [
+                        0.09097533114254475,
+                        0.1187205861788243,
+                        0.0008356050821021199
+                    ],
+                    "orientation": {
+                        "w": 0.41593650660128595,
+                        "xyz": [
+                            0.5422063211544934,
+                            0.4604491526373111,
+                            -0.5665648291343282
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.814568281173706,
+                    "position": [
+                        0.10676209069788456,
+                        0.11428202944807708,
+                        -0.0022572206798940897
+                    ],
+                    "orientation": {
+                        "w": 0.6063123536426775,
+                        "xyz": [
+                            0.38564923454920585,
+                            -0.5986376903205822,
+                            0.3539673903617777
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.812946081161499,
+                    "position": [
+                        0.11366813071072102,
+                        0.11327985185198486,
+                        0.0003851992078125477
+                    ],
+                    "orientation": {
+                        "w": 0.3532501992412094,
+                        "xyz": [
+                            0.5940483975010056,
+                            0.3876196999434316,
+                            -0.6099768572481232
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8127561211585999,
+                    "position": [
+                        0.1533155906945467,
+                        0.07468799757771194,
+                        -0.006396278040483594
+                    ],
+                    "orientation": {
+                        "w": 0.18194176566636758,
+                        "xyz": [
+                            0.6625515837009285,
+                            0.20105409504932992,
+                            -0.6982118902636156
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8120008111000061,
+                    "position": [
+                        0.1016808319836855,
+                        0.11023679631762207,
+                        -0.004006926668807864
+                    ],
+                    "orientation": {
+                        "w": 0.3659085169552935,
+                        "xyz": [
+                            0.5924412980403924,
+                            0.38487842984354836,
+                            -0.6057993560882657
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut wood and graphite",
+                "sharpen pencil tip",
+                "remove material during rotation"
+            ],
+            "semantic_description": "Small silver metal blade with a reflective smooth finish and flat rectangular shape, mounted at the top opening where it forms the cutting edge for sharpening.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade screw",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten blade",
+                "secure cutting assembly",
+                "maintain blade alignment"
+            ],
+            "semantic_description": "Tiny round silver metal screw with a reflective finish and hard smooth texture, centered on the blade as a small top fastener.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade support of sharpener",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support blade mount",
+                "position pencil path",
+                "reinforce cutting area"
+            ],
+            "semantic_description": "Small dark interior plastic section with a matte hard surface, located beside and beneath the blade in the top opening as part of the blade mount structure.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front translucent insert",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form front rim of the sharpening opening",
+                "help guide pencil entry",
+                "provide a smooth contact surface near the opening"
+            ],
+            "semantic_description": "Small translucent whitish plastic insert with a smooth glossy surface and rounded rectangular shape, attached at the front edge of the top opening near the pencil entry side.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pencil entry opening",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide pencil insertion",
+                "center pencil for sharpening",
+                "provide entry to cutting chamber"
+            ],
+            "semantic_description": "Small recessed opening at the top-front area with a smooth hard interior surface, forming the pencil guide passage into the sharpener body.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side logo badge",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brand marking",
+                "visual identification",
+                "indicate outward-facing side"
+            ],
+            "semantic_description": "Small red oval side badge with a smooth glossy finish and white curved symbol, positioned on the outer body as a decorative brand mark.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f171f3b4003a88836ef1bf0faff0ca267a8ae916896378370d389c901a35c4c7
+size 3775848

dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/sharpener_031.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>NO: {"summary":"Main body and sharpening assembly are reasonable, but side logo is incorrectly segmented as a functional part.","merge_groups":[]}</PartSegChecker>