Add asset desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e

.gitattributes

@@ -6691,3 +6691,4 @@ dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/affordanc
 dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/affordance/affordance_annot.json

@@ -0,0 +1,226 @@
+{
+    "affordances": [
+        {
+            "part_name": "central oval insert",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorative center panel",
+                "forms the front face of the mirror head",
+                "covers the central area inside the frame"
+            ],
+            "semantic_description": "Large oval pale cream to off-white insert at the center, smooth matte-to-satin appearance, set inside the surrounding yellow frame; it does not appear strongly reflective in the images.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "outer frame with ear-like loops",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the central insert",
+                "protect the edge of the central panel",
+                "define the perimeter of the mirror head",
+                "provide decorative ear-like protrusions"
+            ],
+            "semantic_description": "Bright yellow plastic oval frame around the central insert, with two small rounded loop-like protrusions on opposite sides, smooth glossy finish and hard surface.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and carry the object",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to orient the mirror head during pretend use or placement",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp near the tip of the handle for finer repositioning",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide primary grip",
+                "enable positioning",
+                "extend reach from the head",
+                "support manipulation"
+            ],
+            "semantic_description": "Short elongated yellow plastic handle extending from the frame, smooth and glossy with an orange oval accent near the tip and another orange accent near the neck.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9506410956382751,
+                    "position": [
+                        0.07541311642853543,
+                        -0.144371910369955,
+                        0.01150616494123824
+                    ],
+                    "orientation": {
+                        "w": 0.6049964350261751,
+                        "xyz": [
+                            -0.21893397161256406,
+                            -0.7228408117978138,
+                            -0.2520880609609381
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9504733681678772,
+                    "position": [
+                        -0.08513282128842548,
+                        -0.12758417276199907,
+                        -0.00354795201565139
+                    ],
+                    "orientation": {
+                        "w": 0.6844161186418601,
+                        "xyz": [
+                            -0.19143947230579014,
+                            0.6770202012371551,
+                            0.19123062543246933
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9475390911102295,
+                    "position": [
+                        0.08168737700907513,
+                        -0.1345377400284633,
+                        -0.007072112959576771
+                    ],
+                    "orientation": {
+                        "w": 0.6856203083245472,
+                        "xyz": [
+                            -0.20341658953927935,
+                            -0.660966846430953,
+                            -0.2273088467972214
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9464982748031616,
+                    "position": [
+                        0.0680063899490051,
+                        -0.1484605654841289,
+                        0.0006842931907158345
+                    ],
+                    "orientation": {
+                        "w": 0.2964991957752275,
+                        "xyz": [
+                            -0.6685488351187064,
+                            0.24416300887100983,
+                            0.6368006807982534
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9457352161407471,
+                    "position": [
+                        0.06428193411557004,
+                        -0.14118587819393724,
+                        0.03693084468250163
+                    ],
+                    "orientation": {
+                        "w": 0.5092025098120235,
+                        "xyz": [
+                            -0.2661338376882905,
+                            -0.7837335104148496,
+                            -0.23589694591337043
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.940941572189331,
+                    "position": [
+                        -0.07744830736191943,
+                        -0.13535283354576677,
+                        0.019452125328825787
+                    ],
+                    "orientation": {
+                        "w": 0.5684384210817313,
+                        "xyz": [
+                            -0.15235472065914596,
+                            0.7653014157035453,
+                            0.2607288700031728
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9387733936309814,
+                    "position": [
+                        0.08413136861054227,
+                        -0.13403537718113512,
+                        -0.009246273402823135
+                    ],
+                    "orientation": {
+                        "w": 0.21966065310332047,
+                        "xyz": [
+                            -0.664643695937043,
+                            0.17137096154581033,
+                            0.6932748001104863
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.928374707698822,
+                    "position": [
+                        0.06206937989918515,
+                        -0.15343886462505907,
+                        -0.001098517415812239
+                    ],
+                    "orientation": {
+                        "w": 0.33357859035363907,
+                        "xyz": [
+                            -0.6486787457052161,
+                            0.2796245139163269,
+                            0.6243006808782484
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9277940392494202,
+                    "position": [
+                        -0.0565031495061703,
+                        -0.1638452544575557,
+                        -0.005028562125517055
+                    ],
+                    "orientation": {
+                        "w": 0.6214220402766717,
+                        "xyz": [
+                            -0.3040065884821626,
+                            0.6217436410516769,
+                            0.3672185818141827
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9261544942855835,
+                    "position": [
+                        0.0655451204511337,
+                        -0.1579924657708034,
+                        0.01514919803594239
+                    ],
+                    "orientation": {
+                        "w": 0.5543667019941786,
+                        "xyz": [
+                            -0.2611063404591801,
+                            -0.722798184569352,
+                            -0.3194742917283967
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Center is reflective mirror, not insert; frame loops are graspable; descriptions/functions partly incorrect."
+    }
+}

dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edab85bd6bec5aa9aa17e8ceb8b8e44042c8afbdc1f29c8d8949f9f1251d64f5
+size 3791260

dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/magnifier_022.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>