Add asset desktop_supplies/office_tools/38a726eeeb1a57ea96ae2addd0613f47

.gitattributes

@@ -6552,3 +6552,4 @@ dataset/desktop_supplies/office_tools/35f02981b0905318bef5f954beca6906/affordanc
 dataset/desktop_supplies/office_tools/35f82bb6276f571f9948db6fd68d9805/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/3667d3fde2ef5a5f96cff244ba116d60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/38a726eeeb1a57ea96ae2addd0613f47/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/38a726eeeb1a57ea96ae2addd0613f47/affordance/affordance_annot.json

@@ -0,0 +1,184 @@
+{
+    "affordances": [
+        {
+            "part_name": "knife handle body",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle body to pick up and hold the utility knife",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle body while moving the thumb slider to extend or retract the blade",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle body to guide cutting motion",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "house internal blade mechanism",
+                "support cutting control",
+                "provide lanyard hanging hole"
+            ],
+            "semantic_description": "Long slim white plastic handle with a mostly matte smooth surface, rectangular profile, and an oval lanyard hole at one end, forming the largest outer body of the knife.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.8256702423095703,
+                    "position": [
+                        0.04753175521182129,
+                        0.12464840523898602,
+                        0.013881181497708894
+                    ],
+                    "orientation": {
+                        "w": 0.4045823776742149,
+                        "xyz": [
+                            0.6778386956943676,
+                            0.308294834858975,
+                            -0.5308503528247057
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.76850426197052,
+                    "position": [
+                        -0.0033982374807237647,
+                        0.13381524197757244,
+                        0.0008112158539006487
+                    ],
+                    "orientation": {
+                        "w": 0.4851695185202005,
+                        "xyz": [
+                            0.4825071918145961,
+                            0.5158612676113893,
+                            -0.5154459241515446
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.7624896764755249,
+                    "position": [
+                        0.004338792561611626,
+                        0.13750485889613628,
+                        -0.0008394083561142907
+                    ],
+                    "orientation": {
+                        "w": 0.4863576984079926,
+                        "xyz": [
+                            0.47835653151217644,
+                            0.5162079360568842,
+                            -0.5178422392107579
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.748436689376831,
+                    "position": [
+                        0.012934931124618743,
+                        0.13957045786082745,
+                        -0.0035325666976859793
+                    ],
+                    "orientation": {
+                        "w": 0.5849785525773967,
+                        "xyz": [
+                            0.5228546242129332,
+                            -0.4578251528756023,
+                            0.4181139370530936
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "thumb slider button",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press and slide the button with a finger or robotic fingertip to extend or retract the blade",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "use the button as a small contact point to stabilize the knife during blade adjustment",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "extend blade",
+                "retract blade",
+                "adjust blade position",
+                "control blade exposure"
+            ],
+            "semantic_description": "Small rounded blue plastic thumb slider with a smooth slightly glossy finish, raised near the middle of the handle along the blade track.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.7322154641151428,
+                    "position": [
+                        -0.05239851629448822,
+                        0.07839236222207546,
+                        0.029058364350930788
+                    ],
+                    "orientation": {
+                        "w": 0.41968948356831703,
+                        "xyz": [
+                            0.7386007687229179,
+                            -0.24984189495787534,
+                            0.4646597350190052
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade track insert",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide slider travel",
+                "cover part of the blade channel",
+                "support blade mechanism"
+            ],
+            "semantic_description": "Long narrow blue strip running along the handle face, appearing as a smooth inset track aligned with the blade mechanism.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade carriage end piece",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect blade mechanism components",
+                "mark the end of the slider travel region",
+                "retain part of the blade carriage assembly"
+            ],
+            "semantic_description": "Small light gray metal rectangular piece near one end of the track, with a smooth hard finish and slightly raised appearance.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "exposed utility blade tip",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut materials",
+                "score surfaces",
+                "slice thin material"
+            ],
+            "semantic_description": "Very thin exposed metallic blade tip at the front end of the knife, with a reflective silver finish and sharp cutting edge.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blade tip mask/color mismatched; green part identity wrong; handle description misses visible blue/metal features."
+    }
+}

dataset/desktop_supplies/office_tools/38a726eeeb1a57ea96ae2addd0613f47/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9516f7dbcab69f3e71951f6fb4307dca24ab34c2f06c9150d591840e5e22d966
+size 3820740

dataset/desktop_supplies/office_tools/38a726eeeb1a57ea96ae2addd0613f47/cutter_knife_014.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>NO: {"summary":"Blade and slider are inconsistently segmented; nonfunctional surface strips are split across colors.","merge_groups":[{"colors":["Blue","Teal"],"target_part":"knife body/handle","reason":"same outer casing split into arbitrary strips"},{"colors":["Red","Green"],"target_part":"slider assembly","reason":"both mark the thumb slider region"}]}</PartSegChecker>