Add asset desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352

.gitattributes

@@ -6610,3 +6610,4 @@ dataset/desktop_supplies/office_tools/8cab7d747ca253bfafefaade80bb5a32/affordanc
 dataset/desktop_supplies/office_tools/8d414b3dd30852cda857df9bd00574f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/8e63e3d8c34056d9a7deabeb08d47778/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/8fb03f5a2e7b5e488e8df7acca2e1e1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/affordance/affordance_annot.json

@@ -0,0 +1,229 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle of cutter knife",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and hold the cutter knife",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to guide cutting motions",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the knife while extending or retracting the blade",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support cutting control",
+                "house the blade slider mechanism",
+                "protect the hand from the blade",
+                "contain and guide the retractable blade"
+            ],
+            "semantic_description": "Long light gray plastic handle with a mostly matte hard smooth surface, black ribbed slider and grip accents, slightly tapered rectangular shape, and ribbed detailing along the sides and top.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9930546879768372,
+                    "position": [
+                        0.0973265032080235,
+                        0.029951076954603195,
+                        -0.004978546989150345
+                    ],
+                    "orientation": {
+                        "w": 0.060065514944173885,
+                        "xyz": [
+                            -0.6876054626649417,
+                            0.07613251788674624,
+                            0.7195795309401501
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9928090572357178,
+                    "position": [
+                        0.09840798478398938,
+                        0.028918040916323662,
+                        -0.002605064189992845
+                    ],
+                    "orientation": {
+                        "w": 0.04675014119274546,
+                        "xyz": [
+                            -0.6954386383895476,
+                            0.056459994289567494,
+                            0.7148368999836064
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9923015832901001,
+                    "position": [
+                        0.09674088757310528,
+                        0.025444533675909042,
+                        -0.0014355755411088467
+                    ],
+                    "orientation": {
+                        "w": 0.05608018958904518,
+                        "xyz": [
+                            -0.7020262542377343,
+                            0.05932525803459443,
+                            0.707456475308356
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.992296040058136,
+                    "position": [
+                        0.09880706023250241,
+                        0.02397266961634159,
+                        -0.000780706643126905
+                    ],
+                    "orientation": {
+                        "w": 0.028058853512370707,
+                        "xyz": [
+                            -0.7032299733090169,
+                            0.034316042862018725,
+                            0.7095792517976147
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9922532439231873,
+                    "position": [
+                        0.09531194072042126,
+                        0.02795022539794445,
+                        0.01352651824709028
+                    ],
+                    "orientation": {
+                        "w": 0.6572509059024761,
+                        "xyz": [
+                            0.0009579185821370608,
+                            -0.7532632049524319,
+                            -0.024796635803171246
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9922029972076416,
+                    "position": [
+                        0.09947954218660016,
+                        0.024779857136309147,
+                        -0.009333826252259314
+                    ],
+                    "orientation": {
+                        "w": 0.046967221098113965,
+                        "xyz": [
+                            -0.6717542653259778,
+                            0.044216888721419934,
+                            0.7379601302987003
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9921992421150208,
+                    "position": [
+                        0.09555861454282422,
+                        0.015674307476729155,
+                        0.019785692333243787
+                    ],
+                    "orientation": {
+                        "w": 0.6147068749665795,
+                        "xyz": [
+                            -0.034498038676251036,
+                            -0.7839969275518623,
+                            -0.07933574721116278
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9921539425849915,
+                    "position": [
+                        0.09631269525561947,
+                        0.024584108963608742,
+                        0.012630659504793584
+                    ],
+                    "orientation": {
+                        "w": 0.6554414742741594,
+                        "xyz": [
+                            0.02865463701660767,
+                            -0.7543128679548298,
+                            0.024238044816406894
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9920969009399414,
+                    "position": [
+                        0.09666273843322415,
+                        0.023492411710321903,
+                        -0.0002811088870657841
+                    ],
+                    "orientation": {
+                        "w": 0.7072313758954026,
+                        "xyz": [
+                            -0.008279627579664443,
+                            -0.7065532803488482,
+                            -0.02318815957595148
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9919635057449341,
+                    "position": [
+                        0.0974880541471066,
+                        0.035619527101516724,
+                        0.001779609709046781
+                    ],
+                    "orientation": {
+                        "w": 0.7064623957675823,
+                        "xyz": [
+                            -0.009399642426733607,
+                            -0.707588015106843,
+                            -0.01190508150898124
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9919231534004211,
+                    "position": [
+                        0.10087323289189953,
+                        0.016991686075925827,
+                        -0.0014667287468910217
+                    ],
+                    "orientation": {
+                        "w": 0.02542193388963176,
+                        "xyz": [
+                            -0.7012185996415791,
+                            0.023395658276987863,
+                            0.71210873043925
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade of knife",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut materials",
+                "score surfaces",
+                "penetrate thin material",
+                "provide sharp working edge"
+            ],
+            "semantic_description": "Short exposed silver metal blade with a dull reflective finish, hard smooth flat shape, angled pointed tip, and segmented snap-off markings projecting from the front of the handle.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e894026391cbe63da35d945acfdd5804a248e41c57766ffcf072ff7c6bf5d16e
+size 3779220

dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/cutter_knife_003.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>