Add asset desktop_supplies/office_stationery/97d59ddf36db5cd3abbcd28719fd8f72

.gitattributes

@@ -6426,3 +6426,4 @@ dataset/desktop_supplies/office_stationery/960b345e73835a318c15f7015bdd72e5/affo
 dataset/desktop_supplies/office_stationery/9647eb53f2ff5028b3659cf5ca59542a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/97965ec0e7bc5541b10df8b5ab201afb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/97d59ddf36db5cd3abbcd28719fd8f72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/97d59ddf36db5cd3abbcd28719fd8f72/affordance/affordance_annot.json

@@ -0,0 +1,283 @@
+{
+    "affordances": [
+        {
+            "part_name": "sharpener body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body to pick up and reposition the sharpener",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body steady while turning the crank",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the body to inspect the front opening area",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "main housing",
+                "support internal mechanism",
+                "provide main grasp surface",
+                "stabilize during sharpening",
+                "protect internal parts"
+            ],
+            "semantic_description": "Large wedge-shaped desktop sharpener housing with cream front and rear panels and black side/top shell pieces, made of hard smooth glossy plastic and occupying most of the object.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9599788188934326,
+                    "position": [
+                        0.024564986466430128,
+                        0.0055614455486647785,
+                        0.1298176678828895
+                    ],
+                    "orientation": {
+                        "w": 0.001984074494686129,
+                        "xyz": [
+                            0.7037496711215421,
+                            -0.7103108745974611,
+                            0.013817571179872553
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9158722758293152,
+                    "position": [
+                        0.11500675359275192,
+                        -0.0012526994105428457,
+                        0.052653837483376265
+                    ],
+                    "orientation": {
+                        "w": 0.48178394830492205,
+                        "xyz": [
+                            0.5146381194949816,
+                            -0.5209575780404508,
+                            -0.48128477536757425
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9106351733207703,
+                    "position": [
+                        0.03579661750700325,
+                        -8.843920659273863e-05,
+                        -0.13022440345957875
+                    ],
+                    "orientation": {
+                        "w": 0.6982631418940753,
+                        "xyz": [
+                            0.04401596807232271,
+                            -0.020086137661886383,
+                            -0.7142042609090887
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.894950270652771,
+                    "position": [
+                        0.03822994732763618,
+                        -0.0031636003986932337,
+                        -0.12929074140265584
+                    ],
+                    "orientation": {
+                        "w": 0.7163632460870488,
+                        "xyz": [
+                            -0.033826316030059235,
+                            -0.044343927284420825,
+                            0.6954948569992847
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.8812217712402344,
+                    "position": [
+                        0.03077242837753147,
+                        -0.0056952962768264115,
+                        -0.12001818092539907
+                    ],
+                    "orientation": {
+                        "w": 0.7093494682272355,
+                        "xyz": [
+                            -0.015579966595009626,
+                            -0.011332910995267564,
+                            0.7045936145715552
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.8165731430053711,
+                    "position": [
+                        0.009198606829158962,
+                        -0.0017126810853369534,
+                        0.1370298000983894
+                    ],
+                    "orientation": {
+                        "w": 0.0038926065861088206,
+                        "xyz": [
+                            0.030530152296799378,
+                            0.9994858717158555,
+                            -0.008986081186871057
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.7523893117904663,
+                    "position": [
+                        -0.10299303254578263,
+                        -0.0652641452034004,
+                        0.00721549813169986
+                    ],
+                    "orientation": {
+                        "w": 0.5575044191034931,
+                        "xyz": [
+                            -0.6517526669393712,
+                            0.4438952733939723,
+                            -0.2595462773302359
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.7301561832427979,
+                    "position": [
+                        0.0167756819864735,
+                        -0.0902469179709442,
+                        0.08628661511465907
+                    ],
+                    "orientation": {
+                        "w": 0.49470724140024475,
+                        "xyz": [
+                            -0.8689576187551773,
+                            -0.006483346417933522,
+                            0.011634789758189783
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.7188037633895874,
+                    "position": [
+                        -0.0005910323234274983,
+                        -0.0833722300012596,
+                        0.0945042404346168
+                    ],
+                    "orientation": {
+                        "w": 0.41585388776536186,
+                        "xyz": [
+                            -0.9088746760534225,
+                            0.022190257659899737,
+                            -0.02280262537970592
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.7107486128807068,
+                    "position": [
+                        0.0008215021225623786,
+                        -0.058677720197010785,
+                        0.12030107853934169
+                    ],
+                    "orientation": {
+                        "w": 0.2647888589344289,
+                        "xyz": [
+                            -0.96381666149312,
+                            0.020964587892149444,
+                            -0.022467515816659695
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "back panel",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the housing",
+                "cover internal cavity",
+                "support structure",
+                "provide rear surface"
+            ],
+            "semantic_description": "Flat cream-colored rear panel with a smooth plastic finish, inset within the black housing on the back face, featuring a central circular opening and curved molded decorative grooves.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "crank handle",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle knob to rotate the crank for sharpening",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the crank arm to slightly reposition the sharpener",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "rotate sharpening mechanism",
+                "provide handhold for turning",
+                "transmit torque to cutter",
+                "control sharpening action"
+            ],
+            "semantic_description": "Side-mounted crank assembly with a black ribbed cylindrical knob and a short light-colored metal arm, protruding from the sharpener side as the rotating handle.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_32": {
+                    "confidence": 0.8221973776817322,
+                    "position": [
+                        0.14094729104544967,
+                        0.008350068412255496,
+                        -0.0365978074260056
+                    ],
+                    "orientation": {
+                        "w": 0.5568790709756877,
+                        "xyz": [
+                            0.46364050734695195,
+                            -0.46355406947594124,
+                            -0.5099419623139584
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front window frame",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame the viewing window",
+                "protect the window edge",
+                "retain the front transparent panel",
+                "define the cutter viewing area"
+            ],
+            "semantic_description": "Thin rounded-rectangle yellowish trim around the dark transparent front window near the top of the cream front face.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "visible front gear assembly",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "part of sharpening mechanism",
+                "transfer rotation within the sharpener",
+                "support cutter drive visibility through window"
+            ],
+            "semantic_description": "Gear-like internal assembly visible behind the front window, appearing white through the dark transparent panel and located in the upper front opening.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front frame color/material and internal gear visibility are misdescribed; one grasp scenario is weakly justified."
+    }
+}

dataset/desktop_supplies/office_stationery/97d59ddf36db5cd3abbcd28719fd8f72/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:183f609c39030d913fb4060f7f7c88494d14c9dfbc96bc82ed15c68c9b177a0e
+size 3912708

dataset/desktop_supplies/office_stationery/97d59ddf36db5cd3abbcd28719fd8f72/sharpener_012.urdf

@@ -58,6 +58,7 @@
                <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>YES</PartSegChecker>