Add asset desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b

.gitattributes

@@ -6444,3 +6444,4 @@ dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/affo
 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/a31529328e585ae594523771b2e5a4d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/affordance/affordance_annot.json

@@ -0,0 +1,315 @@
+{
+    "affordances": [
+        {
+            "part_name": "pen holder body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer faceted body from opposing sides to pick up and relocate the holder",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize the holder while inserting or removing pencils",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain pencils",
+                "support stored writing tools",
+                "provide main grasp surface",
+                "stabilize the object on a desk"
+            ],
+            "semantic_description": "Faceted tapered pencil-holder body with polygonal cup shape and flat angled panels. The visible exterior is multicolored, with yellow, cyan, pink, blue, and dark base surfaces, and a smooth glossy finish.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pencil",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed shaft to remove the pencil from the holder for use",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch the upper exposed section to reposition the pencil inside the holder",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "write or draw",
+                "store as a removable tool",
+                "provide a slender grasp target",
+                "indicate holder contents"
+            ],
+            "semantic_description": "Slim pencil protruding upward from the holder opening, with a yellow-painted shaft and a sharpened dark tip.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pencil",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed shaft to remove the pencil from the holder for use",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch the upper exposed section to reposition the pencil inside the holder",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "write or draw",
+                "store as a removable tool",
+                "provide a slender grasp target",
+                "indicate holder contents"
+            ],
+            "semantic_description": "Slim pencil protruding upward from the holder opening, with a dark-colored shaft and a sharpened tip visible at the top.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_102": {
+                    "confidence": 0.7859443426132202,
+                    "position": [
+                        0.006431139947380871,
+                        0.10356265213340521,
+                        0.17787406966090202
+                    ],
+                    "orientation": {
+                        "w": 0.20171034266897758,
+                        "xyz": [
+                            0.7314812298740969,
+                            0.6215185341263809,
+                            -0.194840600850122
+                        ]
+                    }
+                },
+                "grasp_110": {
+                    "confidence": 0.7308743596076965,
+                    "position": [
+                        0.022221292776521295,
+                        0.09318381454795599,
+                        0.1683674119412899
+                    ],
+                    "orientation": {
+                        "w": 0.1300001660694144,
+                        "xyz": [
+                            0.7431212748608227,
+                            0.6147089576634489,
+                            -0.23022516161242362
+                        ]
+                    }
+                },
+                "grasp_117": {
+                    "confidence": 0.6971021890640259,
+                    "position": [
+                        -0.009377197886351496,
+                        0.09466127958148718,
+                        0.16783833131194115
+                    ],
+                    "orientation": {
+                        "w": 0.23247182556964022,
+                        "xyz": [
+                            0.7240656340155401,
+                            0.6415908170523715,
+                            -0.1002348812942032
+                        ]
+                    }
+                },
+                "grasp_118": {
+                    "confidence": 0.6968225240707397,
+                    "position": [
+                        0.035774271411355585,
+                        0.08219864871352911,
+                        0.17547593638300896
+                    ],
+                    "orientation": {
+                        "w": 0.2577585506901447,
+                        "xyz": [
+                            0.6528887575891723,
+                            -0.7113754957085728,
+                            0.03523781867773844
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pencil",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed shaft to remove the pencil from the holder for use",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch the upper exposed section to reposition the pencil inside the holder",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "write or draw",
+                "store as a removable tool",
+                "provide a slender grasp target",
+                "indicate holder contents"
+            ],
+            "semantic_description": "Slim pencil protruding upward from the holder opening, with a dark-colored shaft and a sharpened tip visible at the top.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pencil",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed shaft to remove the pencil from the holder for use",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "pinch the upper exposed section to reposition the pencil inside the holder",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "write or draw",
+                "store as a removable tool",
+                "provide a slender grasp target",
+                "indicate holder contents"
+            ],
+            "semantic_description": "Slim pencil protruding upward from the holder opening, with a dark-colored shaft and a sharpened tip visible at the top.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pencil",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed shaft to remove the pencil from the holder for use",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch the upper exposed section to reposition the pencil inside the holder",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "write or draw",
+                "store as a removable tool",
+                "provide a slender grasp target",
+                "indicate holder contents"
+            ],
+            "semantic_description": "Slim pencil protruding upward from the holder opening, with a yellow-painted shaft and a sharpened dark tip.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_49": {
+                    "confidence": 0.53201824426651,
+                    "position": [
+                        0.040590524149592966,
+                        -0.0244194520637393,
+                        0.1906031034886837
+                    ],
+                    "orientation": {
+                        "w": 0.043427473030299826,
+                        "xyz": [
+                            -0.5154618119468614,
+                            0.8551294624855246,
+                            0.03415812348298089
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.6979002952575684,
+                    "position": [
+                        0.10637501202290878,
+                        -0.0612717205658555,
+                        0.15867875143885612
+                    ],
+                    "orientation": {
+                        "w": 0.14795059866491445,
+                        "xyz": [
+                            0.43793445514102364,
+                            -0.7900322638851713,
+                            -0.40270715833654963
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pencil",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed shaft to remove the pencil from the holder for use",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "pinch the upper exposed section to reposition the pencil inside the holder",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "write or draw",
+                "store as a removable tool",
+                "provide a slender grasp target",
+                "indicate holder contents"
+            ],
+            "semantic_description": "Slim pencil protruding upward from the holder opening, with a yellow-painted shaft and a sharpened dark tip.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.6393426656723022,
+                    "position": [
+                        0.06541402958100662,
+                        -0.03455592039972544,
+                        0.18246771022677422
+                    ],
+                    "orientation": {
+                        "w": 0.12672692929827706,
+                        "xyz": [
+                            0.02072656767004423,
+                            -0.98332602456087,
+                            -0.12876577264383465
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pencil",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed shaft to remove the pencil from the holder for use",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "pinch the upper exposed section to reposition the pencil inside the holder",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "write or draw",
+                "store as a removable tool",
+                "provide a slender grasp target",
+                "indicate holder contents"
+            ],
+            "semantic_description": "Slim pencil protruding upward from the holder opening, with a dark-colored shaft and a sharpened tip visible at the top.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several pencil descriptions mismatch visible colors; one body description wrongly claims dark base surfaces."
+    }
+}

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
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+size 1344136