Add asset desktop_supplies/office_tools/b97e5eb9ecab5650a9d0c6def70ef307

.gitattributes

@@ -6636,4 +6636,5 @@ dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/affordanc
 dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/b501c5f9ae3f5c1d9f0e6257652f4229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/b97e5eb9ecab5650a9d0c6def70ef307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/b97e5eb9ecab5650a9d0c6def70ef307/affordance/affordance_annot.json

@@ -0,0 +1,124 @@
+{
+    "affordances": [
+        {
+            "part_name": "stamp body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the stamp",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to press the stamp onto a surface",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the body to stabilize and orient the stamp before use",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support stamping force",
+                "provide structural body",
+                "connect the horn features to the seal base",
+                "indicate object orientation"
+            ],
+            "semantic_description": "Main central body of the stamp, tall and slightly tapered with a rectangular wedge-like profile. It appears glossy and smooth, predominantly dark smoky black on the upper portion with translucent amber-orange glowing resin in the lower portion.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9777260422706604,
+                    "position": [
+                        0.005915341549552977,
+                        0.00029957606238895096,
+                        -0.13011081842705607
+                    ],
+                    "orientation": {
+                        "w": 0.9989067902346954,
+                        "xyz": [
+                            0.01751940212191815,
+                            -0.0228022407730325,
+                            -0.036855837909854895
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9731295108795166,
+                    "position": [
+                        0.011290731956250966,
+                        0.019144933936331654,
+                        -0.12643599836155772
+                    ],
+                    "orientation": {
+                        "w": 0.9900749201572125,
+                        "xyz": [
+                            0.0934562162078489,
+                            -0.036084332312319445,
+                            -0.09856728204315661
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "horn tips",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp across both horn tips lightly to lift and orient the stamp",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "pinch one horn tip carefully to rotate the stamp into alignment",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "secondary gripping feature",
+                "aid orientation by touch",
+                "decorative horn feature"
+            ],
+            "semantic_description": "Curved horn tip sections extending laterally from both sides of the top. They appear light cream to off-white, glossy, smooth, and taper to rounded points.",
+            "id": 17,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9331050515174866,
+                    "position": [
+                        -0.004443518701009452,
+                        0.00025419894154765643,
+                        -0.11794793931767344
+                    ],
+                    "orientation": {
+                        "w": 0.710708556181172,
+                        "xyz": [
+                            0.003976174291083357,
+                            0.0012673877757719554,
+                            0.7034741871149978
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "horn base sections",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "transition between body and horn tips",
+                "provide structural connection for the horns",
+                "add decorative color contrast"
+            ],
+            "semantic_description": "Short curved sections at the bases of the horns between the dark body and the pale horn tips. They appear amber-brown to orange-brown, glossy, smooth, and integrated into each horn near where it meets the body.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Body description mismatches mask and visible part colors; top spike omitted as separate role. Correcting body semantics and grasp details."
+    }
+}

dataset/desktop_supplies/office_tools/b97e5eb9ecab5650a9d0c6def70ef307/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:812e63dcac601ddbbadb1ed9c0402812394e790de967007a1f4726d4c9ec6e74
+size 3823456

dataset/desktop_supplies/office_tools/b97e5eb9ecab5650a9d0c6def70ef307/stamp_007.urdf

@@ -54,6 +54,7 @@
                <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":"Decorative motifs and horn sections are over-segmented; true stamp has one main body and engraved face.","merge_groups":[{"colors":["Cyan","Burnt Orange"],"target_part":"main body","reason":"Orange marks body patches and horn bases, not separate functions"},{"colors":["White","Burnt Orange"],"target_part":"horn/handle assembly","reason":"Horn color split lacks functional boundary"}]}</PartSegChecker>