Add asset desktop_supplies/office_stationery/52775e064311597a99bfef996c13fef7

.gitattributes

@@ -6329,3 +6329,4 @@ dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/affo
 dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/52775e064311597a99bfef996c13fef7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/52775e064311597a99bfef996c13fef7/affordance/affordance_annot.json

@@ -0,0 +1,190 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer container body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls from opposite sides to pick up and move the holder",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize the holder while inserting or removing pens",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the body to reorient or place the holder on a desk",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain pens and small tools",
+                "provide the main structure",
+                "support the opening and walls",
+                "rest on a desk",
+                "main grasp surface"
+            ],
+            "semantic_description": "Large rectangular open-top holder body with a light orange-tan plastic appearance, smooth slightly glossy hard sides, vertical ribbed texture on the exterior, slightly tapered walls, and rounded upper rim edges.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.5309796333312988,
+                    "position": [
+                        0.009433006722247228,
+                        0.016754696611315012,
+                        0.15307585895061493
+                    ],
+                    "orientation": {
+                        "w": 0.028902992651680906,
+                        "xyz": [
+                            -0.04326586630981779,
+                            -0.9946773710080193,
+                            0.08893598502750276
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner compartment",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold pens upright",
+                "provide storage space",
+                "guide item placement",
+                "contain small stationery"
+            ],
+            "semantic_description": "Open hollow interior recessed from the top opening, with smooth darker orange-brown inner walls and base, forming the main storage cavity of the holder.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pen",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed top of the pen to remove it from the holder",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the pen to reposition or place it into the holder",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "write or mark",
+                "be stored in the holder",
+                "provide a removable tool",
+                "indicate the holder's use"
+            ],
+            "semantic_description": "Slim cylindrical pen with only the top portion visible above the rim, appearing dark brown to black with a rounded cap end, standing vertically near an inner corner of the holder.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9440016150474548,
+                    "position": [
+                        -0.028872230235720053,
+                        -0.0896114963106811,
+                        0.15327395498752594
+                    ],
+                    "orientation": {
+                        "w": 0.009322702340984106,
+                        "xyz": [
+                            -0.7475646728789165,
+                            -0.6641062991263582,
+                            0.004792759663517801
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9414849281311035,
+                    "position": [
+                        -0.008488592837238684,
+                        -0.08682050136849284,
+                        0.15764003992080688
+                    ],
+                    "orientation": {
+                        "w": 0.06951129433361489,
+                        "xyz": [
+                            -0.7517398287891964,
+                            -0.6481851989231024,
+                            0.09955580178509328
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9365714192390442,
+                    "position": [
+                        -0.034191415790701285,
+                        -0.0847156080417335,
+                        0.14786310493946075
+                    ],
+                    "orientation": {
+                        "w": 0.036785005947427375,
+                        "xyz": [
+                            -0.6827545269237166,
+                            0.7290532498269161,
+                            -0.031216633697957456
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9205772280693054,
+                    "position": [
+                        -0.04038617495098151,
+                        -0.07570994226261973,
+                        0.1570882350206375
+                    ],
+                    "orientation": {
+                        "w": 0.05884079890409948,
+                        "xyz": [
+                            0.7452634102517687,
+                            0.6628901580249114,
+                            0.041192816339010396
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8684525489807129,
+                    "position": [
+                        -0.04495907682576217,
+                        -0.0817772182635963,
+                        0.16226020455360413
+                    ],
+                    "orientation": {
+                        "w": 0.002270772188782638,
+                        "xyz": [
+                            0.006928085791359418,
+                            0.9999067343901068,
+                            0.011548495237315838
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.10090513527393341,
+                    "position": [
+                        -0.024396116990828887,
+                        -0.10079197166487575,
+                        -0.147288516163826
+                    ],
+                    "orientation": {
+                        "w": 0.990640776138662,
+                        "xyz": [
+                            -0.11761571885661758,
+                            -0.041183679118212635,
+                            -0.055689315883016365
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/52775e064311597a99bfef996c13fef7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59f861aa5dec9e82f52ee959b73a133d66dd4cccf7274731970dd6da32341eeb
+size 1989952