Add asset desktop_supplies/office_stationery/7fc01070125d5ed8b784ab27f3b8d40d

.gitattributes

@@ -6383,3 +6383,4 @@ dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/affo
 dataset/desktop_supplies/office_stationery/7d6e90b52dbd5f9085ba359743535b27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/7f2dfe67cfeb5afa826cd0d220eeda36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/7f39ebff0a2a5df78f8fc8704c6ea561/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/7fc01070125d5ed8b784ab27f3b8d40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/7fc01070125d5ed8b784ab27f3b8d40d/affordance/affordance_annot.json

@@ -0,0 +1,204 @@
+{
+    "affordances": [
+        {
+            "part_name": "sharpener body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the sharpener",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the body steady on a table while inserting and turning a pencil",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "stabilize the body while rotating the side crank",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "main housing",
+                "support sharpening mechanism",
+                "contain shavings reservoir",
+                "provide primary grasp surface",
+                "stabilize the sharpener"
+            ],
+            "semantic_description": "Rounded compact light pink plastic housing with a smooth glossy finish, forming most of the exterior; one side shows a brown bear graphic and printed brand text.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_8": {
+                    "confidence": 0.957300066947937,
+                    "position": [
+                        -0.0005454343918245286,
+                        0.012786288767529186,
+                        0.1209739982150495
+                    ],
+                    "orientation": {
+                        "w": 0.007954827100743217,
+                        "xyz": [
+                            -0.0014033385822982635,
+                            0.9999667171419222,
+                            0.001147159547169092
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9563605785369873,
+                    "position": [
+                        0.0007856449519749731,
+                        -0.01507875134848291,
+                        0.12382096936926246
+                    ],
+                    "orientation": {
+                        "w": 0.0003025094560530666,
+                        "xyz": [
+                            0.02937970374936977,
+                            0.999457404961663,
+                            0.01488748343161532
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9563225507736206,
+                    "position": [
+                        0.0016943469818215817,
+                        0.00539860224671429,
+                        0.1245414107106626
+                    ],
+                    "orientation": {
+                        "w": 0.000873164249526067,
+                        "xyz": [
+                            0.010198632217844181,
+                            0.9999381970033391,
+                            -0.0043390850175449355
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9558535218238831,
+                    "position": [
+                        -0.0020876174385193735,
+                        -0.009632740147935692,
+                        0.12391548743471503
+                    ],
+                    "orientation": {
+                        "w": 0.012371298997078225,
+                        "xyz": [
+                            -0.999880010587267,
+                            -0.005004303728439153,
+                            -0.007865896854475533
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9553543329238892,
+                    "position": [
+                        -0.0026154858351219445,
+                        -0.012170497306215111,
+                        0.12394178798422217
+                    ],
+                    "orientation": {
+                        "w": 0.010118983406399575,
+                        "xyz": [
+                            0.04251491985624294,
+                            0.99877835463961,
+                            0.023062655264124276
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.954759955406189,
+                    "position": [
+                        0.002929552661953494,
+                        -0.09047332217596704,
+                        -0.09296049037948251
+                    ],
+                    "orientation": {
+                        "w": 0.8920536423108409,
+                        "xyz": [
+                            -0.45188818066122066,
+                            0.002852626041547901,
+                            -0.005406842268966519
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9544194340705872,
+                    "position": [
+                        -0.004843764734687284,
+                        -0.017613736890780274,
+                        0.12245004763826728
+                    ],
+                    "orientation": {
+                        "w": 0.005337884771911835,
+                        "xyz": [
+                            0.013200192765421682,
+                            0.9995238097490167,
+                            0.027375456926389173
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9540015459060669,
+                    "position": [
+                        0.0012816595553886145,
+                        0.0007188414674601518,
+                        0.12287905206903815
+                    ],
+                    "orientation": {
+                        "w": 9.115139347627741e-05,
+                        "xyz": [
+                            0.999617577645748,
+                            0.027633470242206817,
+                            -0.0010399401153973243
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side crank and knob",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side crank/knob to rotate the sharpening mechanism",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "lightly hold the crank while folding or repositioning it",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "turn sharpening mechanism",
+                "provide handhold for rotation",
+                "transmit torque"
+            ],
+            "semantic_description": "Small light pink plastic crank with a bent arm and rounded hollow knob projecting from the side; smooth glossy surface and finger-sized for turning.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pencil entry and shavings window area",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide pencil into sharpener",
+                "define pencil insertion opening",
+                "provide view into shavings reservoir",
+                "help monitor fill level"
+            ],
+            "semantic_description": "Front area including an oval silver-toned pencil entry ring and a translucent light purple window near the lower front, through which wood shavings are visible.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and front part identity are incorrect; description mentions nonexistent brown mask and lumps multiple features into one part."
+    }
+}

dataset/desktop_supplies/office_stationery/7fc01070125d5ed8b784ab27f3b8d40d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a68994b986150fbb3d130da447eb7b560146fc1e9464903d5b1a04faeca1f331
+size 3788776

dataset/desktop_supplies/office_stationery/7fc01070125d5ed8b784ab27f3b8d40d/sharpener_009.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":"Distinct functional parts are merged and one color covers unrelated features; merging cannot fix missing separation.","merge_groups":[]}</PartSegChecker>