Add asset desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d

.gitattributes

@@ -6584,3 +6584,4 @@ dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/affordanc
 dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/732d0f6c945e57e0b995eadc2171a483/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/affordance/affordance_annot.json

@@ -0,0 +1,217 @@
+{
+    "affordances": [
+        {
+            "part_name": "magnifying lens frame",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer rim to pick up or reposition the magnifier when the handle is obstructed",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "hold the rim to stabilize the lens assembly during inspection or handoff",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "hold the lens",
+                "protect the lens edge",
+                "provide structural support",
+                "define the viewing head"
+            ],
+            "semantic_description": "A circular light brass-colored metal rim with a smooth slightly reflective finish surrounds the lens at the head, forming a medium-sized rigid ring near the front of the magnifier.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.5606250762939453,
+                    "position": [
+                        -0.09298569551901892,
+                        -0.03263942152261734,
+                        -0.0006641002837568521
+                    ],
+                    "orientation": {
+                        "w": 0.7055628361804408,
+                        "xyz": [
+                            -0.08428458848292751,
+                            0.6936123433095571,
+                            0.11823328445874363
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.5486123561859131,
+                    "position": [
+                        -0.10153492382960394,
+                        -0.011836368590593338,
+                        -0.004946395172737539
+                    ],
+                    "orientation": {
+                        "w": 0.7086787303154376,
+                        "xyz": [
+                            -0.019607766328694824,
+                            0.7044701284111818,
+                            0.03334412803524928
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.21018706262111664,
+                    "position": [
+                        0.005724048416595906,
+                        -0.020145071670413017,
+                        -0.0900131551316008
+                    ],
+                    "orientation": {
+                        "w": 0.9806180495601835,
+                        "xyz": [
+                            -0.1943755632250951,
+                            -0.006279563258677401,
+                            0.023810677919556912
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lens",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "magnify viewed objects",
+                "transmit light",
+                "provide viewing surface",
+                "enable close inspection"
+            ],
+            "semantic_description": "A round clear glass insert with a smooth glossy surface sits inside the frame, appearing transparent to pale gray from reflections and occupying most of the head area.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and carry the magnifier",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to orient the lens over a target for viewing",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the tool during precise inspection",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "support manipulation",
+                "position the lens",
+                "keep fingers off the viewing area"
+            ],
+            "semantic_description": "An elongated brown wooden handle with a turned profile, smooth polished finish, and hard slightly contoured surface extends from the lens head as the main grip section.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.9821220636367798,
+                    "position": [
+                        0.09239321359200403,
+                        -0.07077058777213097,
+                        0.03180809936020523
+                    ],
+                    "orientation": {
+                        "w": 0.5640670953820069,
+                        "xyz": [
+                            -0.0013971139032993851,
+                            -0.8246499974381848,
+                            -0.04217513136017635
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.9821179509162903,
+                    "position": [
+                        0.07986443646950647,
+                        -0.03768477216362953,
+                        0.05143756291363388
+                    ],
+                    "orientation": {
+                        "w": 0.48999607108072213,
+                        "xyz": [
+                            0.03681985813022155,
+                            -0.8666573898443384,
+                            0.08633143692146747
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9798556566238403,
+                    "position": [
+                        0.09864033915800974,
+                        -0.06829316541552544,
+                        0.01356674509588629
+                    ],
+                    "orientation": {
+                        "w": 0.6535334781734718,
+                        "xyz": [
+                            0.0316276758647227,
+                            -0.7562124475149974,
+                            -0.006034670600554549
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle end cap",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the handle end",
+                "provide end stop",
+                "protect the handle tip",
+                "indicate handle boundary"
+            ],
+            "semantic_description": "A small rounded light brass-colored cap with a smooth slightly reflective finish covers the end of the wooden handle, forming a hard decorative terminal piece.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "neck joint",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect handle to frame",
+                "transfer load between parts",
+                "set handle angle",
+                "support pivot area"
+            ],
+            "semantic_description": "A short light brass-colored metal connector with a smooth reflective finish links the handle to the lens frame, forming a narrow rigid neck at the side of the head.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "frame lug",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount the neck joint",
+                "reinforce frame connection",
+                "support handle attachment"
+            ],
+            "semantic_description": "A small light brass-colored metal tab on the side of the circular frame has a smooth reflective surface and serves as the attachment point between the head and handle joint.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b41688eadc9106488c0605975afcb2dea1e1331c3346c24e81360c4ed5cd7ad7
+size 3784192