Add asset desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c

.gitattributes

@@ -6443,3 +6443,4 @@ dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/affo
 dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/affordance/affordance_annot.json

@@ -0,0 +1,154 @@
+{
+    "affordances": [
+        {
+            "part_name": "top handle",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and reposition the stapler",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold and press the top handle downward to staple papers",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "lift the top handle to open the stapler for loading or tacking access",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide main handhold",
+                "press to drive staples",
+                "cover upper mechanism",
+                "open for reloading"
+            ],
+            "semantic_description": "Long reddish-pink plastic upper shell with a matte smooth hard surface and small raised grip dots near the rear, forming the larger top lever of the stapler.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base to pick up the stapler from a table",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the base to stabilize the stapler while opening or reloading",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "support on desk",
+                "stabilize during stapling",
+                "house lower mechanism",
+                "provide resting surface"
+            ],
+            "semantic_description": "Elongated reddish-pink plastic lower body with a matte smooth hard finish, rounded rectangular shape, and broad footprint forming the bottom support of the stapler.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.807873547077179,
+                    "position": [
+                        0.04862172051798552,
+                        -0.06252526681055315,
+                        -0.09547827788628638
+                    ],
+                    "orientation": {
+                        "w": 0.9533745566251416,
+                        "xyz": [
+                            -0.19936617963747974,
+                            -0.22524736485906705,
+                            -0.024366079303363337
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.8077828288078308,
+                    "position": [
+                        -0.006791020859964192,
+                        0.1253396328247618,
+                        -0.02487147250212729
+                    ],
+                    "orientation": {
+                        "w": 0.7294164481841082,
+                        "xyz": [
+                            0.6840492108715149,
+                            -0.0025120339102221445,
+                            0.00469168521659005
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.7535235285758972,
+                    "position": [
+                        -0.04725781560409814,
+                        -0.07480485181440599,
+                        -0.09303284087218344
+                    ],
+                    "orientation": {
+                        "w": 0.9478430685835663,
+                        "xyz": [
+                            -0.24198307933811308,
+                            0.20745110344438866,
+                            0.0013214884936077406
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "metal staple channel",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold staple strip",
+                "guide staples forward",
+                "support loading",
+                "form the inner stapling arm"
+            ],
+            "semantic_description": "Long shiny silver metal inner channel/arm visible between the top handle and base, with a reflective smooth hard surface running lengthwise inside the stapler.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "anvil plate",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "clinch staple legs",
+                "provide paper contact point",
+                "support fastening",
+                "define stapling position"
+            ],
+            "semantic_description": "Small shiny silver metal plate at the front end of the base, rectangular with a reflective smooth hard surface where staple legs are bent closed.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear hinge assembly",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect top handle to base",
+                "enable opening and closing",
+                "support pivot motion",
+                "help reset after pressing"
+            ],
+            "semantic_description": "Small rear hinge area at the back of the stapler, including a visible silver metallic pivot region within the reddish-pink housing, compact and partially enclosed rather than a fully exposed spring.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4744968aee4b8638fb11f170d6597cd3bb2b3d24a3cfb09dcfc25fcb70be7d7
+size 3795040

dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/stapler_007.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>YES</PartSegChecker>