Add asset desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98

.gitattributes

@@ -8242,3 +8242,4 @@ dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/affordanc
 dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/0ccb6cdcdb775437bc9943a66169b739/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/0ce93da77e1653439b4263effdc63116/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/affordance/affordance_annot.json

@@ -0,0 +1,202 @@
+{
+    "affordances": [
+        {
+            "part_name": "sliding lid",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid from its edges to slide it open or closed",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the lid while aligning it over the base",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "cover the container",
+                "protect contents",
+                "enable opening and closing"
+            ],
+            "semantic_description": "Large white plastic top cover with a smooth matte surface, rounded-square shape, and faint printed text on the upper face, positioned as the sliding top of the box.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pull handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the raised handle to pull the lid open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "grasp the handle to guide the lid closed",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a pull point",
+                "assist lid sliding",
+                "improve finger or gripper access"
+            ],
+            "semantic_description": "Small white plastic raised pull handle with a smooth finish and elongated curved shape, mounted near the center of the lid as the main pulling feature.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_45": {
+                    "confidence": 0.22509141266345978,
+                    "position": [
+                        0.03152351004246157,
+                        -0.06865256636956474,
+                        0.11131282849237323
+                    ],
+                    "orientation": {
+                        "w": 0.28674219622509245,
+                        "xyz": [
+                            -0.6826651330947753,
+                            -0.6713366822725224,
+                            -0.03246980129328798
+                        ]
+                    }
+                },
+                "grasp_46": {
+                    "confidence": 0.19073839485645294,
+                    "position": [
+                        -0.0168259840720566,
+                        -0.06967198460915824,
+                        0.10500842286273837
+                    ],
+                    "orientation": {
+                        "w": 0.28049852653320745,
+                        "xyz": [
+                            -0.6550955570510278,
+                            0.6887864276002793,
+                            0.13320527353805564
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "box base",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the box base from the sides to pick up the whole container",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the base steady while the lid is opened",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain the stored staples",
+                "support the lid",
+                "provide the main body",
+                "stabilize the box on a table"
+            ],
+            "semantic_description": "White plastic lower container with a smooth matte surface and rounded rectangular tub shape, forming the main body of the box.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "staple strip",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the exposed staple strip to extract it from the box",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "grasp the staple strip to reposition or load staples",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "serve as consumable staples",
+                "fasten paper when used",
+                "indicate remaining contents"
+            ],
+            "semantic_description": "Compact metallic staple stack with a reflective silver finish and fine ribbed texture from aligned staples, sitting inside the box as the stored consumable bundle.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front rim section",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "brace this rim while pulling the lid with another gripper",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "lightly grip this edge together with another side of the base to stabilize the box",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "form part of the box opening perimeter",
+                "support lid guidance",
+                "provide structural support"
+            ],
+            "semantic_description": "Small visible section of the white plastic upper rim of the box base, smooth and slightly curved, located along one exposed front-side edge near the lid opening.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.7794833183288574,
+                    "position": [
+                        -0.08631547990080435,
+                        0.10061781496187905,
+                        -0.002576011698693037
+                    ],
+                    "orientation": {
+                        "w": 0.38442309889706516,
+                        "xyz": [
+                            0.5828884460837929,
+                            -0.35527630212546657,
+                            0.6214810452495336
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "left inner end section",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form part of the interior end wall",
+                "retain contents",
+                "provide structural support"
+            ],
+            "semantic_description": "Small visible section of the white plastic inner end wall near the opening, smooth and rigid, located at one exposed end beneath the partially open lid.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right inner end section",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form part of the interior end wall",
+                "retain contents",
+                "provide structural support"
+            ],
+            "semantic_description": "Small visible section of the white plastic inner end wall near the opening, smooth and rigid, located at the opposite exposed end beneath the partially open lid.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front rim mask/color and graspability are mismatched; it marks an outer side wall, not a front rim section."
+    }
+}

dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2fd5a0929b2e51e2edd6fa07617662037169954ebb8f6f01df4d99769b32c68
+size 3783436