Add asset desktop_supplies/office_tools/8cab7d747ca253bfafefaade80bb5a32

.gitattributes

@@ -6606,3 +6606,4 @@ dataset/desktop_supplies/office_tools/8a18548793525af8a445f9addd8cef13/affordanc
 dataset/desktop_supplies/office_tools/8c6de38e1748550daef2b3e8678cfa15/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/8af89760b9dc5b708f1e601bdef7cb18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/8cab7d747ca253bfafefaade80bb5a32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/8cab7d747ca253bfafefaade80bb5a32/affordance/affordance_annot.json

@@ -0,0 +1,274 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle body of cutter knife",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle body to pick up and hold the cutter knife during use",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp the handle body to stabilize the knife while extending or retracting the blade",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the handle body to reposition or store the tool safely",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "house internal blade track",
+                "support safe handling",
+                "provide structural body",
+                "stabilize cutting motions"
+            ],
+            "semantic_description": "Long bright green plastic handle with a mostly matte hard smooth surface, ribbed side texture, and an elongated tapered shape forming the main body around the blade track.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9857467412948608,
+                    "position": [
+                        0.09637715996359475,
+                        0.01438059052452445,
+                        -0.011397746035072487
+                    ],
+                    "orientation": {
+                        "w": 0.03680752463905176,
+                        "xyz": [
+                            -0.677164863896255,
+                            0.03212176032977099,
+                            0.7342078355259012
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9849228858947754,
+                    "position": [
+                        0.09553426087950356,
+                        -0.027838233392685652,
+                        -0.006025085334840696
+                    ],
+                    "orientation": {
+                        "w": 0.08079494042743463,
+                        "xyz": [
+                            -0.6866719769575732,
+                            0.043712146688931974,
+                            0.7211400847923727
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9826593399047852,
+                    "position": [
+                        0.09993055791710503,
+                        -0.023914513643831015,
+                        -0.014126865768048447
+                    ],
+                    "orientation": {
+                        "w": 0.06728778429192381,
+                        "xyz": [
+                            -0.6587113836525833,
+                            0.03236494467160267,
+                            0.7486816262524325
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9823121428489685,
+                    "position": [
+                        0.09898791045998223,
+                        -0.003113094251602888,
+                        -0.00457848340010969
+                    ],
+                    "orientation": {
+                        "w": 0.026844568154239207,
+                        "xyz": [
+                            0.694468187975842,
+                            0.023083732017708858,
+                            -0.7186518255499653
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9818522930145264,
+                    "position": [
+                        -0.0984551799192559,
+                        0.02118141343817115,
+                        -0.0038495998524012975
+                    ],
+                    "orientation": {
+                        "w": 0.7103640117091897,
+                        "xyz": [
+                            0.02333439462317197,
+                            0.7033264679151926,
+                            -0.013052065964269308
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9813635349273682,
+                    "position": [
+                        0.10075962872360833,
+                        -0.02891880599781871,
+                        -0.007993735947820824
+                    ],
+                    "orientation": {
+                        "w": 0.0762855173764588,
+                        "xyz": [
+                            -0.6818575222633193,
+                            0.04379007775553401,
+                            0.7261771603828485
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.981071412563324,
+                    "position": [
+                        -0.09897330074454658,
+                        0.020026383455842733,
+                        -0.002593234989035409
+                    ],
+                    "orientation": {
+                        "w": 0.7029013265769332,
+                        "xyz": [
+                            0.014988825451965783,
+                            0.7111271919158554,
+                            -0.001782449390015519
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9795714616775513,
+                    "position": [
+                        -0.09542555778170936,
+                        0.04538399400189519,
+                        -0.000920575279451441
+                    ],
+                    "orientation": {
+                        "w": 0.6975179620605981,
+                        "xyz": [
+                            0.06238614227352008,
+                            0.7110079973136355,
+                            -0.06359472942871007
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9785807132720947,
+                    "position": [
+                        0.08821168870781548,
+                        0.06403537141159177,
+                        0.002585068934422452
+                    ],
+                    "orientation": {
+                        "w": 0.6825330419998603,
+                        "xyz": [
+                            0.16850216928410464,
+                            -0.6887380912386445,
+                            0.17718777384999365
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9782466888427734,
+                    "position": [
+                        -0.09357378302956931,
+                        0.0004132860340178013,
+                        0.01121533697732957
+                    ],
+                    "orientation": {
+                        "w": 0.6693184991844627,
+                        "xyz": [
+                            -0.04615419411209906,
+                            0.7391013688787913,
+                            0.06009745033541608
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9774150252342224,
+                    "position": [
+                        -0.08842188536073081,
+                        -0.032775971572846174,
+                        -0.00644431227556197
+                    ],
+                    "orientation": {
+                        "w": 0.7031647796873248,
+                        "xyz": [
+                            -0.17883706063934696,
+                            0.6673238244009949,
+                            0.16809375876570848
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rear end cap",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cap the handle end",
+                "protect rear edge",
+                "provide butt stop",
+                "finish the housing"
+            ],
+            "semantic_description": "Rounded dark gray to black plastic end cap with a matte hard smooth finish, mounted at the back of the handle as a small blunt bumper-like piece.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade of knife",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut materials",
+                "score surfaces",
+                "pierce thin material",
+                "provide sharp working edge"
+            ],
+            "semantic_description": "Small exposed metallic blade with a reflective smooth finish and angular segmented utility-knife shape, protruding from the front of the handle as the sharp cutting element.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "slider button",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "extend blade",
+                "retract blade",
+                "adjust blade position",
+                "lock blade along track"
+            ],
+            "semantic_description": "Small black plastic thumb slider with a matte slightly textured ribbed surface, sitting on top of the handle near the center along the blade track.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade holder",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "clamp the blade",
+                "guide blade travel",
+                "connect blade to slider mechanism",
+                "support front cutting assembly"
+            ],
+            "semantic_description": "Small light gray plastic front carriage with a hard smooth finish, located at the nose of the knife where it surrounds and guides the base of the blade.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/8cab7d747ca253bfafefaade80bb5a32/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bb68db7ad0a18729586c3b719496cfff8dc22b5205cbd7453cb689594b3b70f
+size 3786288

dataset/desktop_supplies/office_tools/8cab7d747ca253bfafefaade80bb5a32/cutter_knife_030.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 area is merged with front holder; slider/button and body are acceptable but front functional parts are not separable by merging.","merge_groups":[]}</PartSegChecker>