Add asset desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa

.gitattributes

@@ -6688,4 +6688,4 @@ dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/affordanc
 dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/affordance/affordance_annot.json

@@ -0,0 +1,188 @@
+{
+    "affordances": [
+        {
+            "part_name": "stamp body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cylindrical body from the sides to pick up the stamp",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the body while pressing the stamp onto a surface",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the body to reposition or store the stamp",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support pressing action",
+                "house the stamp mechanism",
+                "provide structural body"
+            ],
+            "semantic_description": "Tall tapered cylindrical translucent plastic body in dark purple-brown tones with a glossy smooth hard surface, forming nearly the entire outer shell above the bottom edge.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8406583666801453,
+                    "position": [
+                        -0.021686964435502887,
+                        -0.10853723701438867,
+                        -0.04287949297577143
+                    ],
+                    "orientation": {
+                        "w": 0.09439147475928282,
+                        "xyz": [
+                            0.0812751143968577,
+                            0.694136791468417,
+                            0.7089842875568378
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.8387265801429749,
+                    "position": [
+                        0.011081220814958215,
+                        -0.11523335691890679,
+                        0.03459691721946001
+                    ],
+                    "orientation": {
+                        "w": 0.7231587467484879,
+                        "xyz": [
+                            -0.6885935776983894,
+                            -0.03881567270834452,
+                            0.03706285614854446
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.8352752327919006,
+                    "position": [
+                        -0.05105438153259456,
+                        -0.07857294645509683,
+                        -0.09000726882368326
+                    ],
+                    "orientation": {
+                        "w": 0.8228539915548106,
+                        "xyz": [
+                            -0.4851116968565753,
+                            0.1468879685942266,
+                            -0.25690830044494645
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8341319561004639,
+                    "position": [
+                        -0.06248110602609813,
+                        -0.09456468638381921,
+                        -0.04195664916187525
+                    ],
+                    "orientation": {
+                        "w": 0.6845674719108301,
+                        "xyz": [
+                            -0.6640523185390734,
+                            0.2033663313535048,
+                            -0.2214588673237352
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8282407522201538,
+                    "position": [
+                        0.0661436312366277,
+                        -0.08950270977220498,
+                        -0.043249775655567646
+                    ],
+                    "orientation": {
+                        "w": 0.23379162473157938,
+                        "xyz": [
+                            0.20842475729108523,
+                            -0.6656550135268313,
+                            -0.677350721354982
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8282403349876404,
+                    "position": [
+                        0.02568918955512345,
+                        -0.10951344933710061,
+                        0.03447026293724775
+                    ],
+                    "orientation": {
+                        "w": 0.06178418476766469,
+                        "xyz": [
+                            0.09364783829500287,
+                            -0.6882704363030819,
+                            -0.7167263099722472
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.8271547555923462,
+                    "position": [
+                        -0.08104980806820095,
+                        -0.07708114650449716,
+                        -0.0435986528173089
+                    ],
+                    "orientation": {
+                        "w": 0.3024325180080902,
+                        "xyz": [
+                            0.2886666304624524,
+                            0.6419689641952323,
+                            0.6427145536852583
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base rim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lower rim lightly to help reorient the stamp near a workspace",
+                    "confidence": 0.38
+                },
+                {
+                    "scenario": "use the rim as a secondary stabilizing contact while aligning the stamp face",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "support the bottom edge",
+                "protect the stamp face perimeter",
+                "stabilize the stamping end",
+                "frame the opening around the stamp face"
+            ],
+            "semantic_description": "Thin circular translucent purple plastic ring around the bottom opening, glossy and slightly faceted, forming a narrow perimeter edge smaller than the main body diameter.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stamp face",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "make printed impression",
+                "transfer the stamp pattern",
+                "provide the marking surface",
+                "define the stamped design"
+            ],
+            "semantic_description": "Small flat circular stamp surface recessed within the bottom opening, light beige to off-white in color with visible engraved or raised pattern details and a mostly matte finish.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db0e1599c65fac97b95de664cdc905f3e97cee24878da2d02901612c1ce448e0
+size 3779684

dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/stamp_008.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>