Add asset desktop_supplies/office_stationery/75144ad4f4c456bab707bd5adc5a65e9

.gitattributes

@@ -6370,3 +6370,4 @@ dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/affo
 dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/75144ad4f4c456bab707bd5adc5a65e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/75144ad4f4c456bab707bd5adc5a65e9/affordance/affordance_annot.json

@@ -0,0 +1,297 @@
+{
+    "affordances": [
+        {
+            "part_name": "notebook cover",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the closed notebook around the cover edges to pick it up",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the cover to reposition or place the notebook",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch the front cover edge to start opening it",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "cover the pages",
+                "protect contents",
+                "provide main holding surface",
+                "support opening and closing",
+                "form the notebook body"
+            ],
+            "semantic_description": "Large brown leather-like cover with a matte to satin finish, smooth slightly textured surface, rounded rectangular shape, stitched edges, and embossed curved patterns across the exterior.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9870269894599915,
+                    "position": [
+                        -0.13084117288235575,
+                        0.05027864233125001,
+                        0.0026426711410749704
+                    ],
+                    "orientation": {
+                        "w": 0.027665620690726665,
+                        "xyz": [
+                            0.7026770043078024,
+                            0.012036891649247594,
+                            0.7108690134534162
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9866194128990173,
+                    "position": [
+                        -0.12855552847031504,
+                        -0.04722043394576758,
+                        0.01226967413094826
+                    ],
+                    "orientation": {
+                        "w": 0.030432487154314753,
+                        "xyz": [
+                            0.7278911887517684,
+                            0.008358276503320328,
+                            0.6849659993583873
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9860278367996216,
+                    "position": [
+                        -0.13228756899479777,
+                        0.047430039499886334,
+                        0.005446516239317134
+                    ],
+                    "orientation": {
+                        "w": 0.013732195683520156,
+                        "xyz": [
+                            0.7029769519097756,
+                            0.013699798250689565,
+                            0.7109480623879927
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.985714316368103,
+                    "position": [
+                        -0.12221246177796274,
+                        -0.04770753427874297,
+                        0.006759344396414235
+                    ],
+                    "orientation": {
+                        "w": 0.03314587040186811,
+                        "xyz": [
+                            -0.7016478155264549,
+                            -0.00592924903757297,
+                            -0.7117278540622858
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.985572099685669,
+                    "position": [
+                        -0.12221681291703135,
+                        -0.0651710134698078,
+                        0.008331690245540813
+                    ],
+                    "orientation": {
+                        "w": 0.6944895929940909,
+                        "xyz": [
+                            -0.02746944875507925,
+                            0.7164424786651556,
+                            0.06033083268216216
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.985206663608551,
+                    "position": [
+                        -0.1260875683510676,
+                        -0.0425323013914749,
+                        0.0001981834357138723
+                    ],
+                    "orientation": {
+                        "w": 0.7092576570558646,
+                        "xyz": [
+                            0.009726144525133963,
+                            0.7048821643497526,
+                            -0.0003352639415503542
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.98519366979599,
+                    "position": [
+                        -0.1308267783606425,
+                        -0.04478574439417571,
+                        -0.010059682390419766
+                    ],
+                    "orientation": {
+                        "w": 0.7336448196206276,
+                        "xyz": [
+                            0.01662835755282751,
+                            0.6793254283975951,
+                            0.0023955586687531053
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9850819110870361,
+                    "position": [
+                        -0.12073378975037485,
+                        -0.06419798999559134,
+                        0.00504009032738395
+                    ],
+                    "orientation": {
+                        "w": 0.07527218786897785,
+                        "xyz": [
+                            -0.7005301950293261,
+                            -0.04713037685639054,
+                            -0.7080750462789704
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "closure strap",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the strap to pull it away from the closure hardware and open the notebook",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the strap to steady the notebook during closure",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "pinch the strap for minor repositioning",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "secure the notebook closed",
+                "enable opening",
+                "tension the closure",
+                "provide a pull tab"
+            ],
+            "semantic_description": "Medium brown leather-like strap with a smooth matte surface and rounded rectangular form, mounted across the front and wrapping over the notebook for closure.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "closure hardware",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten the strap",
+                "retain the closure",
+                "guide strap position"
+            ],
+            "semantic_description": "Small silver-toned metal buckle or clasp with a reflective smooth finish, mounted on the strap near the top front of the notebook.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "page edges",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide writing pages",
+                "store notes",
+                "allow page turning",
+                "indicate notebook thickness"
+            ],
+            "semantic_description": "Cream-white paper page edges with a matte finish and fine smooth texture, visible as a thick rectangular stack along the open side and top edge of the closed notebook.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pen",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pen to remove it from the notebook and write",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "pinch the pen to reposition it in its holder",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "write notes",
+                "mark pages",
+                "serve as stored accessory"
+            ],
+            "semantic_description": "Slim white pen with dark accents and a smooth hard plastic body, stored along the side of the notebook.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pen clip",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain the pen cap",
+                "clip the pen to a holder or edge",
+                "help secure pen placement"
+            ],
+            "semantic_description": "Small dark clip-like piece on the pen, likely plastic or metal, with a smooth hard finish used to help secure the pen along the notebook edge.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "label window",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display identification",
+                "hold a label card",
+                "indicate ownership or contents"
+            ],
+            "semantic_description": "Small rectangular white or light insert area on the front cover with a smooth finish, positioned near the strap as a label holder.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front cover flap panel",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the flap edge to lift the cover and open the notebook",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the flap area while repositioning the notebook",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "form the front flap of the cover",
+                "support opening and closing",
+                "provide exterior structure"
+            ],
+            "semantic_description": "Curved brown exterior flap section in matching leather-like material with embossed patterning and a smooth matte finish, visible on the front cover opposite the strap path.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts misidentified: no separate pen clip or front flap panel; green part is buckle, not silver hardware."
+    }
+}

dataset/desktop_supplies/office_stationery/75144ad4f4c456bab707bd5adc5a65e9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0ce1eb9241abbdc850e3c53ec14c1ab50707326430ae6b96e466518aa43ba54
+size 3800444

dataset/desktop_supplies/office_stationery/75144ad4f4c456bab707bd5adc5a65e9/notebook_014.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>