Add asset desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11

.gitattributes

@@ -6674,3 +6674,4 @@ dataset/desktop_supplies/office_tools/de7b175185f5540d837dcaca59977307/affordanc
 dataset/desktop_supplies/office_tools/df8450421228510f802d6fe8d541f448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/affordance/affordance_annot.json

@@ -0,0 +1,262 @@
+{
+    "affordances": [
+        {
+            "part_name": "scissors body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp across the handle rings to pick up the scissors",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle and shank area to reposition or place the scissors",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "stabilize the scissors by gripping the handle side for handoff or storage",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main structural body",
+                "provide finger rings for handling",
+                "connect handles to blades",
+                "support pivoted opening and closing",
+                "enable cutting with pointed blades"
+            ],
+            "semantic_description": "Small silver metal scissors with a smooth reflective finish, two oval finger rings, narrow pointed blades, and a central pivot; compact and symmetrical overall.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9857504367828369,
+                    "position": [
+                        0.09378454770194367,
+                        0.09246519580483437,
+                        0.001094937823836517
+                    ],
+                    "orientation": {
+                        "w": 0.6899776829085313,
+                        "xyz": [
+                            0.07240588336582346,
+                            -0.7155487595782996,
+                            0.08171999637876569
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9853549003601074,
+                    "position": [
+                        -0.09265820001019165,
+                        0.10115312412381172,
+                        0.01128908797272743
+                    ],
+                    "orientation": {
+                        "w": 0.6628353480769419,
+                        "xyz": [
+                            0.1186645000338328,
+                            0.7309351620375316,
+                            -0.11091360001644184
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9766852259635925,
+                    "position": [
+                        -0.08541441027773544,
+                        0.1300225518643856,
+                        -0.0036500031956165913
+                    ],
+                    "orientation": {
+                        "w": 0.17936925007333673,
+                        "xyz": [
+                            0.6631425138292392,
+                            -0.18723921523085063,
+                            0.7021468185216685
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9753510355949402,
+                    "position": [
+                        -0.08073215995682403,
+                        0.14240136370062828,
+                        0.02649767595448793
+                    ],
+                    "orientation": {
+                        "w": 0.5715086995473783,
+                        "xyz": [
+                            0.18254531858646547,
+                            0.7745541020535511,
+                            -0.2003021617353331
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9747354984283447,
+                    "position": [
+                        0.08813284273492172,
+                        0.10589683428406715,
+                        -0.0057850704424708965
+                    ],
+                    "orientation": {
+                        "w": 0.7080291845355668,
+                        "xyz": [
+                            0.15193919521363794,
+                            -0.6758547724559433,
+                            0.1372205573238113
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9745213985443115,
+                    "position": [
+                        -0.08101274137152359,
+                        0.1507095955312252,
+                        0.011762223123696458
+                    ],
+                    "orientation": {
+                        "w": 0.6296942505963107,
+                        "xyz": [
+                            0.20634111445271505,
+                            0.7204653608932592,
+                            -0.2045437826122029
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9740638732910156,
+                    "position": [
+                        0.08400415565120056,
+                        0.042773060500621796,
+                        0.03872113200941385
+                    ],
+                    "orientation": {
+                        "w": 0.5273870059010567,
+                        "xyz": [
+                            -0.08093607588177902,
+                            -0.8344303369444473,
+                            -0.13797938401932894
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9648534655570984,
+                    "position": [
+                        0.08170812512980774,
+                        0.12910255417227745,
+                        0.006119770846453321
+                    ],
+                    "orientation": {
+                        "w": 0.6532484326305803,
+                        "xyz": [
+                            0.17923543667588782,
+                            -0.7077086471835186,
+                            0.20072272967197383
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9643800854682922,
+                    "position": [
+                        0.08017867739545181,
+                        0.1254224143922329,
+                        0.02970124679723085
+                    ],
+                    "orientation": {
+                        "w": 0.20485429551062304,
+                        "xyz": [
+                            0.7906025051112496,
+                            0.1345369018370176,
+                            -0.5611436701654573
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9618526101112366,
+                    "position": [
+                        -0.08086392347468063,
+                        0.14674605056643486,
+                        -0.015632269986781466
+                    ],
+                    "orientation": {
+                        "w": 0.7299572369505025,
+                        "xyz": [
+                            0.2250557438645813,
+                            0.6170318739354994,
+                            -0.18916662212132782
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9599007368087769,
+                    "position": [
+                        0.08957292075501755,
+                        0.04420790821313858,
+                        -0.005371485453906644
+                    ],
+                    "orientation": {
+                        "w": 0.12527741394630532,
+                        "xyz": [
+                            -0.674407360482924,
+                            0.13851994227555708,
+                            0.7143476095524908
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9567720293998718,
+                    "position": [
+                        0.07422958995448425,
+                        0.15606799349188805,
+                        -0.014852651477667678
+                    ],
+                    "orientation": {
+                        "w": 0.23077034471909777,
+                        "xyz": [
+                            0.6041355718459273,
+                            0.2269123024911205,
+                            -0.7282005670190057
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9557838439941406,
+                    "position": [
+                        0.08352641697274521,
+                        0.11695950850844383,
+                        -0.0003517694376569125
+                    ],
+                    "orientation": {
+                        "w": 0.183996384203169,
+                        "xyz": [
+                            0.672060236099681,
+                            0.18786485945376785,
+                            -0.6922334607892174
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9507882595062256,
+                    "position": [
+                        -0.08523385290754959,
+                        0.09809505566954613,
+                        0.0005728502046622452
+                    ],
+                    "orientation": {
+                        "w": 0.1893402510879375,
+                        "xyz": [
+                            0.6815353535793286,
+                            -0.18223801199020806,
+                            0.6829708179163388
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1cd3c0c65ea1d813bbda48aa94c6713e88171a2e8ad383ba45285a96202d52e
+size 3783488

dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/scissors_026.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":"Masks do not separate functional parts; green is only small inner-edge fragments and noise.","merge_groups":[]}</PartSegChecker>