Add asset desktop_supplies/office_tools/21e5cda4f76a553eb73f475b0990a00f

.gitattributes

@@ -6529,3 +6529,4 @@ dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/affordanc
 dataset/desktop_supplies/office_tools/2038cb87f798564aa489aff666e557cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/1e546ae440f15062b218a332c0115a6c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/20a016b2cec35969ab5822caef4d05b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/21e5cda4f76a553eb73f475b0990a00f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/21e5cda4f76a553eb73f475b0990a00f/affordance/affordance_annot.json

@@ -0,0 +1,182 @@
+{
+    "affordances": [
+        {
+            "part_name": "tissue box body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to pick up and move the tissue box",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize the box while pulling a tissue",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the body from opposing sides to reposition it on a surface",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "contain tissues",
+                "support the overall structure",
+                "provide main grasp surface",
+                "stabilize during tissue dispensing",
+                "rest on a tabletop"
+            ],
+            "semantic_description": "Large rectangular yellow-orange box body made of rigid plastic, with a smooth slightly matte finish, rounded corners, gently tapered sides, and subtle horizontal streak-like texture on the exterior.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim edge to lift or nudge the box when side access is limited",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "pinch the rim to stabilize the box while extracting a tissue",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "protect the top edge",
+                "frame the dispensing opening",
+                "provide a secondary holding edge"
+            ],
+            "semantic_description": "Rounded raised rim around the top opening, slightly lighter tan-yellow than the body, with a smooth satin finish and a thick rectangular border shape around the upper perimeter.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.39213526248931885,
+                    "position": [
+                        0.12937669875100255,
+                        -0.09435200178995728,
+                        0.028735743835568428
+                    ],
+                    "orientation": {
+                        "w": 0.6279019151316314,
+                        "xyz": [
+                            0.3002775891786962,
+                            -0.5748686595695329,
+                            -0.430230843450104
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "tissue stack",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the exposed top tissue for dispensing",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the exposed tissue or stack lightly to remove or adjust tissues during refilling",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "provide tissues for wiping or cleaning",
+                "dispense individual tissues through the top opening",
+                "occupy the container interior"
+            ],
+            "semantic_description": "Long exposed stack of folded tissues visible through the top opening, appearing light yellow to off-white, soft and paper-like, with a raised gently curved top surface running lengthwise along the center.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.6880713701248169,
+                    "position": [
+                        -0.019915524404495955,
+                        0.023608786519616842,
+                        0.14964834041893482
+                    ],
+                    "orientation": {
+                        "w": 0.04148003601778148,
+                        "xyz": [
+                            -0.00526956301021443,
+                            -0.9964390208485597,
+                            0.07321827673476401
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.615776002407074,
+                    "position": [
+                        -0.016942786518484354,
+                        -0.010206692386418581,
+                        0.14149870164692402
+                    ],
+                    "orientation": {
+                        "w": 0.2158648123114967,
+                        "xyz": [
+                            -0.9754299423439972,
+                            -0.0336469970209351,
+                            0.028402288217358563
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.7065648436546326,
+                    "position": [
+                        -0.04384768707677722,
+                        0.03774049645289779,
+                        0.13605120964348316
+                    ],
+                    "orientation": {
+                        "w": 0.04549763019669627,
+                        "xyz": [
+                            -0.006056668797511022,
+                            0.9615407674049382,
+                            -0.2707999908195803
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.6532475352287292,
+                    "position": [
+                        -0.025818133261054754,
+                        0.027699484955519438,
+                        0.15063737519085407
+                    ],
+                    "orientation": {
+                        "w": 0.024836328331266047,
+                        "xyz": [
+                            0.012891222172684992,
+                            -0.9994697715643398,
+                            0.01664779009484289
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.6409580707550049,
+                    "position": [
+                        -0.02145208092406392,
+                        0.006001028697937727,
+                        0.1537254173308611
+                    ],
+                    "orientation": {
+                        "w": 0.028844128099476753,
+                        "xyz": [
+                            0.01813744415766493,
+                            -0.9993679258956533,
+                            0.010138939028770442
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/21e5cda4f76a553eb73f475b0990a00f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:563bdf83160b7173c673ddf84e11ab1be691740df3694a0e6a03126a67d286bc
+size 1170252