Add asset desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33

.gitattributes

@@ -6587,4 +6587,4 @@ dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/affordanc
 dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/77beffbb723359f0899f889206043939/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/78f1fcc2ea845de180548cfc9988ec92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/7a4d7516b5605ce09caedbb491759d2a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/affordance/affordance_annot.json

@@ -0,0 +1,205 @@
+{
+    "affordances": [
+        {
+            "part_name": "knife handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and use the utility knife",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to stabilize and guide cutting",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "grasp the handle to reposition or store the knife",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support safe handling",
+                "house the blade slider",
+                "enclose and support the blade mechanism"
+            ],
+            "semantic_description": "Long rounded pale gray-green plastic handle with a mostly matte smooth hard surface, medium size and elongated shape, forming the main body around the blade channel.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9704375863075256,
+                    "position": [
+                        0.09584036256273976,
+                        -0.022484886743768584,
+                        -0.018588560764328577
+                    ],
+                    "orientation": {
+                        "w": 0.7683897918693579,
+                        "xyz": [
+                            -0.006079879159079657,
+                            -0.6398817497631484,
+                            -0.009566041000753514
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9607589244842529,
+                    "position": [
+                        -0.09687978242436657,
+                        -0.03082513185654534,
+                        -0.005842199214384891
+                    ],
+                    "orientation": {
+                        "w": 0.7243864777528038,
+                        "xyz": [
+                            -0.0402567272150608,
+                            0.6878688792400841,
+                            0.021909626555689315
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.958896279335022,
+                    "position": [
+                        0.08129463876684895,
+                        -0.0772618328264798,
+                        -0.0044035656756022945
+                    ],
+                    "orientation": {
+                        "w": 0.1959828226863261,
+                        "xyz": [
+                            -0.6678409236029934,
+                            0.2179918651849453,
+                            0.6841482154374073
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9562621712684631,
+                    "position": [
+                        -0.09770915870467434,
+                        -0.029490602486475836,
+                        0.001374362371279858
+                    ],
+                    "orientation": {
+                        "w": 0.7049379104179638,
+                        "xyz": [
+                            -0.02492733060218735,
+                            0.7084358156248404,
+                            0.023661483143965354
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.95406174659729,
+                    "position": [
+                        -0.09770665530959377,
+                        -0.022477180980786216,
+                        0.001599019844434224
+                    ],
+                    "orientation": {
+                        "w": 0.7023590630341812,
+                        "xyz": [
+                            -0.005332667089778592,
+                            0.7117339119933684,
+                            -0.009906954833459406
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.947961151599884,
+                    "position": [
+                        0.08097927059134236,
+                        -0.08052336918626679,
+                        0.009584967847331427
+                    ],
+                    "orientation": {
+                        "w": 0.21250496636746594,
+                        "xyz": [
+                            -0.7237050682020242,
+                            0.20687141233826978,
+                            0.6231346822999303
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9413667917251587,
+                    "position": [
+                        -0.08665884499350796,
+                        -0.07607841240678681,
+                        -0.00031659081287216395
+                    ],
+                    "orientation": {
+                        "w": 0.6813917743781773,
+                        "xyz": [
+                            -0.19705047476110682,
+                            0.6856590765068562,
+                            0.16354813056084264
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "knife blade",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut material",
+                "score surfaces",
+                "pierce thin material",
+                "provide sharp working edge"
+            ],
+            "semantic_description": "Small exposed silver metal blade with a reflective finish and sharp flat-edged geometry protruding from the front of the handle.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade slider",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the slider to extend or retract the blade",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the slider briefly to adjust blade position",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "extend the blade",
+                "retract the blade",
+                "adjust cutting depth",
+                "control blade position"
+            ],
+            "semantic_description": "Narrow dark gray ridged plastic slider with a matte finish and textured grip surface, seated in the top slot of the handle near the center.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.6405218243598938,
+                    "position": [
+                        0.0032967649967758916,
+                        -0.12232149141345872,
+                        0.005351466927095316
+                    ],
+                    "orientation": {
+                        "w": 0.7047369349888088,
+                        "xyz": [
+                            -0.709309649601848,
+                            -0.014073844551873549,
+                            -0.005253602936305676
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d6d025de97b220c8f43424341126027e37006ea06df0a7f0a9191614748be3f
+size 3797568

dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/cutter_knife_021.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>