Add asset desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574

.gitattributes

@@ -6440,3 +6440,4 @@ dataset/desktop_supplies/office_stationery/9e32571529dc5357af6232884880b3c9/affo
 dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/affordance/affordance_annot.json

@@ -0,0 +1,229 @@
+{
+    "affordances": [
+        {
+            "part_name": "elephant body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the pencil sharpener",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the body steady while inserting or rotating a pencil into the top opening",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the body while opening or emptying the shavings compartment from the underside",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house the sharpener mechanism",
+                "support attached decorative parts",
+                "stabilize during sharpening"
+            ],
+            "semantic_description": "Large light gray elephant-shaped plastic body with a smooth matte finish, rounded bulky form, and the main housing for the sharpener.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9462879300117493,
+                    "position": [
+                        -0.04481075727380812,
+                        -0.14645372796803713,
+                        -0.007369255879893899
+                    ],
+                    "orientation": {
+                        "w": 0.6133627122033734,
+                        "xyz": [
+                            -0.35352894728240647,
+                            0.5978590150631918,
+                            0.375989447750314
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9343637228012085,
+                    "position": [
+                        0.019215803360566497,
+                        -0.16056859958916903,
+                        -0.00541598629206419
+                    ],
+                    "orientation": {
+                        "w": 0.48676952315503424,
+                        "xyz": [
+                            -0.5504595105028594,
+                            0.43800322351430565,
+                            0.5178831285294487
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9341526627540588,
+                    "position": [
+                        0.0034972408320754766,
+                        -0.15901899803429842,
+                        -0.019461138173937798
+                    ],
+                    "orientation": {
+                        "w": 0.5644949134948887,
+                        "xyz": [
+                            -0.505557971813288,
+                            0.4329919558927313,
+                            0.48813378894174086
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9328428506851196,
+                    "position": [
+                        -0.04637560271658003,
+                        -0.14819930959492922,
+                        -0.01273074559867382
+                    ],
+                    "orientation": {
+                        "w": 0.6398768954161433,
+                        "xyz": [
+                            -0.37007473511917643,
+                            0.5757821354183551,
+                            0.3493954517050106
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.928818941116333,
+                    "position": [
+                        0.0012320047244429588,
+                        -0.1488123582676053,
+                        0.03751375339925289
+                    ],
+                    "orientation": {
+                        "w": 0.5204538401199753,
+                        "xyz": [
+                            -0.8523479548044844,
+                            0.03688442153636373,
+                            0.035641320022010606
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9263014197349548,
+                    "position": [
+                        0.0007041125791147351,
+                        -0.15681508649140596,
+                        -0.0041142437903545215
+                    ],
+                    "orientation": {
+                        "w": 0.4704497009510417,
+                        "xyz": [
+                            -0.44211982559082763,
+                            0.5439593816542229,
+                            0.5360180312311957
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9244384765625,
+                    "position": [
+                        -0.0065428561065346,
+                        -0.16049466002732515,
+                        -0.00026062270626425743
+                    ],
+                    "orientation": {
+                        "w": 0.17613545011115622,
+                        "xyz": [
+                            -0.10471706821291026,
+                            0.7094923230066991,
+                            0.674263511124242
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pencil insertion opening",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide pencil insertion",
+                "provide sharpening entry",
+                "set pencil orientation",
+                "access the cutter area"
+            ],
+            "semantic_description": "Small oval opening on the top of the body, showing the metallic sharpener blade inside a recessed slot in the light gray plastic.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner ear panels",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the elephant shape",
+                "visually distinguish the ears",
+                "add character detail"
+            ],
+            "semantic_description": "Pink inner-ear panels inside the large side ears, smooth and matte with rounded teardrop-like shapes.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tail",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly pinch the tail to help orient the sharpener",
+                    "confidence": 0.28
+                },
+                {
+                    "scenario": "briefly pull the sharpener from a tight spot using the tail",
+                    "confidence": 0.22
+                }
+            ],
+            "functional_labels": [
+                "decorate the animal shape",
+                "indicate rear orientation",
+                "provide a small incidental pulling point"
+            ],
+            "semantic_description": "Tiny short tail at the rear, light gray like the body, with a smooth matte hard surface and a small curved stub shape.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "toenail accents",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the feet",
+                "indicate toe tips",
+                "add visual detail"
+            ],
+            "semantic_description": "Small white toenail-like accents on the front edges of the feet, smooth and slightly contrasting against the light gray legs.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside shavings opening",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "access shavings cavity",
+                "allow shavings removal",
+                "form the bottom opening region"
+            ],
+            "semantic_description": "Dark oval opening or plug-like recessed area on the underside of the body, visible as a darker smooth section set into the lower surface.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask color/part mismatch for underside opening; tail graspability overstated and opening description partly inaccurate."
+    }
+}

dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa9a88b6790ea29bef4ad0651710406db41b21b63156da09bb19a8a26fec232
+size 3783488

dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/sharpener_025.urdf

@@ -57,6 +57,7 @@
                <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>