Add asset desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3

.gitattributes

@@ -6546,4 +6546,4 @@ dataset/desktop_supplies/office_tools/2f697d3319c957f6915e9bf1fc8f6d7d/affordanc
 dataset/desktop_supplies/office_tools/2d86f440ad11583db7743a384dd7c6dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/319607e267a25b66803955949c56b7d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/328d85b3ce345cd09d563cf1debca0e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/33ce8a76377e5154a6fc65b5fb34e91b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/affordance/affordance_annot.json

@@ -0,0 +1,227 @@
+{
+    "affordances": [
+        {
+            "part_name": "knife handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and control the utility knife",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to stabilize the knife while extending or retracting the blade with another finger or tool",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the handle to reposition, pass, or store the knife safely",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support safe handling",
+                "house the blade mechanism",
+                "provide control during cutting"
+            ],
+            "semantic_description": "Long slim handle made of black ribbed plastic with silver metal side rails, a mostly matte finish, and a rounded dark end forming the main grip area of the knife.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9219440817832947,
+                    "position": [
+                        -0.1041573048569262,
+                        0.05824649320857134,
+                        -0.0017011061136145145
+                    ],
+                    "orientation": {
+                        "w": 0.6829193956039942,
+                        "xyz": [
+                            0.20675930310257637,
+                            0.6780178176712902,
+                            -0.17653194784138396
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9078828692436218,
+                    "position": [
+                        -0.10203525284305215,
+                        0.05653621243254747,
+                        -0.005983244540402666
+                    ],
+                    "orientation": {
+                        "w": 0.18999698735838966,
+                        "xyz": [
+                            0.6646708925212165,
+                            -0.17706215088499366,
+                            0.7005446053990888
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9023906588554382,
+                    "position": [
+                        -0.13254114845767617,
+                        0.0092527315573534,
+                        -0.0006934790872037411
+                    ],
+                    "orientation": {
+                        "w": 0.7072083484288124,
+                        "xyz": [
+                            0.018348183126317023,
+                            0.7065293238393845,
+                            -0.018330593105952534
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9017844200134277,
+                    "position": [
+                        -0.13092155614867806,
+                        0.008953112046583556,
+                        -0.004890170326689258
+                    ],
+                    "orientation": {
+                        "w": 0.7131430972780636,
+                        "xyz": [
+                            0.0020530997987788352,
+                            0.7002938536949803,
+                            -0.03179978086246179
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9009358286857605,
+                    "position": [
+                        -0.12607510248199105,
+                        -0.042031765115098096,
+                        -0.0007929165149107575
+                    ],
+                    "orientation": {
+                        "w": 0.690177551943496,
+                        "xyz": [
+                            -0.19773716091285123,
+                            0.6834708567250415,
+                            0.13199450744234284
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.8918402791023254,
+                    "position": [
+                        -0.13122895220294595,
+                        -0.003517487450153567,
+                        -0.0033445182780269533
+                    ],
+                    "orientation": {
+                        "w": 0.708888342915376,
+                        "xyz": [
+                            -0.007814177177188741,
+                            0.7051349353356104,
+                            -0.014176702119311655
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.877034604549408,
+                    "position": [
+                        -0.13326947251334786,
+                        0.004741567056044005,
+                        -0.002608427224913612
+                    ],
+                    "orientation": {
+                        "w": 0.061172725880268446,
+                        "xyz": [
+                            -0.6911511586164273,
+                            0.0537602350532046,
+                            -0.7181071025122728
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8734132051467896,
+                    "position": [
+                        -0.12505744257941842,
+                        -0.007857893258915283,
+                        -0.002378623146796599
+                    ],
+                    "orientation": {
+                        "w": 0.7105619460053473,
+                        "xyz": [
+                            -0.023259428651271914,
+                            0.7030886957300131,
+                            -0.015066711803809578
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8681244254112244,
+                    "position": [
+                        -0.1350674764253199,
+                        -0.0033651871053734794,
+                        -0.004469559440622106
+                    ],
+                    "orientation": {
+                        "w": 0.7085065313965886,
+                        "xyz": [
+                            -0.01463480976421091,
+                            0.705040342001896,
+                            -0.026878122356105236
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8584442138671875,
+                    "position": [
+                        -0.13430832186713815,
+                        -0.006661065519438125,
+                        -0.007281388534465805
+                    ],
+                    "orientation": {
+                        "w": 0.7164912132089891,
+                        "xyz": [
+                            -0.01687765441910445,
+                            0.6972231770100207,
+                            -0.015340391640186494
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "slider button",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "extend blade",
+                "retract blade",
+                "lock blade position",
+                "control blade position"
+            ],
+            "semantic_description": "Small black ridged thumb slider with a matte plastic surface and rectangular shape, mounted on the top center track of the handle as the blade control.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "knife blade",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut material",
+                "score surfaces",
+                "pierce thin material",
+                "provide sharp working edge"
+            ],
+            "semantic_description": "Slim silver segmented metal blade with a smooth reflective finish and sharp angled tip, projecting from the front of the handle with visible snap-off section lines.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df753cb2ca57c9b651f74e7286d8f0336a8a9bee9874469eba87bdf4debedd75
+size 3785696

dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/cutter_knife_006.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>