Add asset desktop_supplies/office_stationery/9645b5c681155ab8823d6e5f132e7dc6

.gitattributes

@@ -6422,3 +6422,4 @@ dataset/desktop_supplies/office_stationery/94994d7e83d45ef4941aebb288d9946b/affo
 dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/955680a2de33595880995f90e4c2f6c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/95c5382c15585f7db80de38e7e85ba11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9645b5c681155ab8823d6e5f132e7dc6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/9645b5c681155ab8823d6e5f132e7dc6/9645b5c681155ab8823d6e5f132e7dc6.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.6219834089279175</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Spiral binding is only tiny fragments; pages and binding are not cleanly segmented into functional parts.","merge_groups":[]}</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>2</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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>
    </custom_data>
 </robot>

dataset/desktop_supplies/office_stationery/9645b5c681155ab8823d6e5f132e7dc6/affordance/affordance_annot.json

@@ -0,0 +1,95 @@
+{
+    "affordances": [
+        {
+            "part_name": "notebook body",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the notebook body along its broad side to pick it up",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "pinch the notebook near a free edge to reposition or open it",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the notebook body to stabilize it while turning pages",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "main notebook structure",
+                "provide writing pages",
+                "support page turning",
+                "main grasp surface",
+                "protect inner pages"
+            ],
+            "semantic_description": "Large rectangular light peach to cream notebook body made of paper pages with a cover, mostly matte and smooth, with slightly rounded edges, faint printed ruling visible on the front, and spiral binding along one long side.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spiral binding",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the spiral edge to pull or reorient the notebook",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the binding to stabilize the notebook while opening or flipping pages",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "bind the pages",
+                "act as page hinge",
+                "enable page flipping",
+                "keep sheets aligned",
+                "form the notebook spine"
+            ],
+            "semantic_description": "Narrow black spiral coil along the notebook spine, likely plastic or coated metal, with a glossy hard smooth finish and repeated looped rings protruding slightly from the edge.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_12": {
+                    "confidence": 0.9526302814483643,
+                    "position": [
+                        0.005120175133924931,
+                        -0.15226425882428885,
+                        -0.11552799842320383
+                    ],
+                    "orientation": {
+                        "w": 0.8637294743285296,
+                        "xyz": [
+                            -0.5038617027116128,
+                            0.009641593661864678,
+                            0.0013488470540241246
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8965107202529907,
+                    "position": [
+                        0.0026376027963124216,
+                        -0.15066742058843374,
+                        -0.031205057865008712
+                    ],
+                    "orientation": {
+                        "w": 0.8616516575437179,
+                        "xyz": [
+                            -0.5071807499173312,
+                            0.017789680082515136,
+                            -0.002763195255277558
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/9645b5c681155ab8823d6e5f132e7dc6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4b9c7f64e44e4f7795eb41af0cd1c6a0bca871f862512cb6eac9fbc13314136
+size 601732