Add asset desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614

.gitattributes

@@ -6512,4 +6512,4 @@ dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/affo
 dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d59a58393ab35897b6b52dd120259968/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d5fb0ba7e5ef54588550a2b57d6c7cba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/affordance/affordance_annot.json

@@ -0,0 +1,149 @@
+{
+    "affordances": [
+        {
+            "part_name": "container panels",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side wall to pick up the pen holder",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold a side panel to stabilize the pen holder during placement",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "contain pens and tools",
+                "form the main enclosure",
+                "provide side support",
+                "present decorative outer faces"
+            ],
+            "semantic_description": "Large black panels forming the square body, likely hard plastic with a smooth slightly glossy finish, broad flat surfaces on all sides with one face showing a small gold printed emblem and text.",
+            "id": 17,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.7877825498580933,
+                    "position": [
+                        -0.06450793730618898,
+                        -0.0026912778266705573,
+                        0.1366860205307603
+                    ],
+                    "orientation": {
+                        "w": 0.027514638641744842,
+                        "xyz": [
+                            0.02904408497835437,
+                            0.9961984004652257,
+                            0.077383025908209
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.6623528003692627,
+                    "position": [
+                        0.06185682651994284,
+                        5.6622084230184555e-05,
+                        0.13766030315309763
+                    ],
+                    "orientation": {
+                        "w": 0.09375913046851937,
+                        "xyz": [
+                            0.0487480287630091,
+                            -0.9895916499521374,
+                            -0.09767917634027255
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.606564998626709,
+                    "position": [
+                        -0.01206658712180797,
+                        -0.05598720192210749,
+                        0.13549996260553598
+                    ],
+                    "orientation": {
+                        "w": 0.015271025189038777,
+                        "xyz": [
+                            0.7267328258746122,
+                            0.6861956035339495,
+                            0.02760053036908959
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.35931381583213806,
+                    "position": [
+                        0.13110260081884917,
+                        0.03199012920958921,
+                        0.1079517612233758
+                    ],
+                    "orientation": {
+                        "w": 0.3181060134515409,
+                        "xyz": [
+                            0.7002924369779885,
+                            -0.48172445173566025,
+                            -0.41992930299917836
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "frame rim and corner posts",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim from opposite sides to lift the pen holder",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp a corner post to reposition or rotate the pen holder",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "reinforce the structure",
+                "protect edges and corners",
+                "define the opening",
+                "provide a robust grasp area"
+            ],
+            "semantic_description": "Pale green bamboo-like frame pieces around the top rim, edges, and corners, with a hard smooth semi-matte finish, cylindrical segmented shapes, and medium thickness around the square container.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner ornaments",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the frame",
+                "accent the corners",
+                "visually reinforce edge transitions"
+            ],
+            "semantic_description": "Small pale green scrollwork ornaments at panel corners, appearing hard and smooth with a matte to satin finish, thin curved shapes attached flush to the frame as decorative details.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feet",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the holder on a surface",
+                "elevate the base slightly",
+                "improve stability"
+            ],
+            "semantic_description": "Small white foot pieces at the bottom corners, likely hard plastic or resin with a smooth matte finish, rounded ornamental forms that protrude slightly beneath the base.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d58bd5ae3f4f54ad1f182ac9b97e78298f62659c99143f940abf8b45ae1600a7
+size 3824660

dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/pen_holder_025.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>4</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <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>
       <quality>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Decorative body details are over-segmented; one tiny fragment is noise.","merge_groups":[{"colors":["Red","White"],"target_part":"main body panels","reason":"Same container walls, split only by decoration"},{"colors":["Brown","Deep Sky Blue"],"target_part":"frame and feet","reason":"Brown is tiny fragment on same structural frame"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>