Add asset desktop_supplies/office_tools/c72407ae431d54c7ad70806f6815d1be

.gitattributes

@@ -6654,3 +6654,4 @@ dataset/desktop_supplies/office_tools/c508c8540f70585ca5f05f1e96506c89/affordanc
 dataset/desktop_supplies/office_tools/c61a63061046589ab89b6f887268f978/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/c72407ae431d54c7ad70806f6815d1be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/c72407ae431d54c7ad70806f6815d1be/affordance/affordance_annot.json

@@ -0,0 +1,321 @@
+{
+    "affordances": [
+        {
+            "part_name": "body of cutter knife",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle body to pick up and carry the cutter knife",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body to guide cutting while keeping the blade pointed outward",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "clamp the body to stabilize the tool while extending or retracting the blade",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "house the blade mechanism",
+                "support cutting control",
+                "protect the retracted blade",
+                "provide structural body"
+            ],
+            "semantic_description": "Elongated black plastic housing with a mostly matte finish, hard slightly textured surface, slim tapered shape, and a small lanyard hole near one end, forming the main body of the knife.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9607630968093872,
+                    "position": [
+                        -0.09470269965822808,
+                        -0.01643708150368184,
+                        -0.0029944029556645546
+                    ],
+                    "orientation": {
+                        "w": 0.7092964264578294,
+                        "xyz": [
+                            -0.08443181005058789,
+                            0.6962829291063389,
+                            0.07042678113354092
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.9527542591094971,
+                    "position": [
+                        -0.08129716056282632,
+                        0.05554122303146869,
+                        -0.005644317428959766
+                    ],
+                    "orientation": {
+                        "w": 0.6887833941438982,
+                        "xyz": [
+                            0.2105730532676242,
+                            0.6643783465467982,
+                            -0.19959418285336936
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9499931931495667,
+                    "position": [
+                        -0.08146564799244516,
+                        0.054920664173550904,
+                        -0.003273545476986328
+                    ],
+                    "orientation": {
+                        "w": 0.20299569188663172,
+                        "xyz": [
+                            0.6527388059724473,
+                            -0.1956904175806291,
+                            0.7031572091077858
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.9425380229949951,
+                    "position": [
+                        -0.08268995719845407,
+                        0.07993994851130992,
+                        -0.008221618543757359
+                    ],
+                    "orientation": {
+                        "w": 0.6970338849982016,
+                        "xyz": [
+                            0.20976642471532245,
+                            0.6588668885390628,
+                            -0.1898321190244671
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9408180117607117,
+                    "position": [
+                        -0.08303495633299462,
+                        0.07537559617776424,
+                        0.0029827256767021026
+                    ],
+                    "orientation": {
+                        "w": 0.6737894796361164,
+                        "xyz": [
+                            0.20817217252426,
+                            0.6824946342615082,
+                            -0.19202384727546512
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.9355431795120239,
+                    "position": [
+                        -0.07804735141689889,
+                        0.05862064112443477,
+                        -0.0037249037450237665
+                    ],
+                    "orientation": {
+                        "w": 0.6887429419620568,
+                        "xyz": [
+                            0.22940303278277954,
+                            0.6547909547253995,
+                            -0.21037160943747546
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9333406090736389,
+                    "position": [
+                        0.08289142561261542,
+                        -0.07261874328833073,
+                        -0.008108364130748669
+                    ],
+                    "orientation": {
+                        "w": 0.6907050574368854,
+                        "xyz": [
+                            -0.19549281721757455,
+                            -0.6609920285462458,
+                            -0.21862895564349197
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade of knife",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut material",
+                "score surfaces",
+                "pierce thin material",
+                "provide sharp working edge"
+            ],
+            "semantic_description": "Small exposed silver metal utility blade with a reflective smooth finish, thin flat angular shape, and a sharp edge protruding from the front of the handle.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade slider",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the slider to extend the blade",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "pinch the slider to retract the blade",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the slider lightly to lock or adjust blade position",
+                    "confidence": 0.65
+                }
+            ],
+            "functional_labels": [
+                "extend blade",
+                "retract blade",
+                "adjust blade length",
+                "control cutting readiness"
+            ],
+            "semantic_description": "Small ridged black plastic thumb slider with a matte finish and fine ribbed texture, mounted along the top of the handle to move the blade carriage.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9278857707977295,
+                    "position": [
+                        -0.0926574854820501,
+                        -0.06551634322386235,
+                        -0.005524861338926712
+                    ],
+                    "orientation": {
+                        "w": 0.7052250519698279,
+                        "xyz": [
+                            -0.18828685775298276,
+                            0.6647364391321312,
+                            0.15915763180443276
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9124559164047241,
+                    "position": [
+                        -0.09822195160086267,
+                        -0.059730270761065185,
+                        -0.001338686157396296
+                    ],
+                    "orientation": {
+                        "w": 0.700984786915733,
+                        "xyz": [
+                            -0.1525601852142569,
+                            0.6811184298128437,
+                            0.1463673562287114
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.6827664375305176,
+                    "position": [
+                        -0.06598778205807321,
+                        0.06840708304662257,
+                        -0.0013192641235946212
+                    ],
+                    "orientation": {
+                        "w": 0.6428094167768241,
+                        "xyz": [
+                            0.3124229495024911,
+                            0.6264337705872292,
+                            -0.31107665517532807
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.47773391008377075,
+                    "position": [
+                        -0.059287415322614834,
+                        -0.08528592984657735,
+                        -0.00565738760997192
+                    ],
+                    "orientation": {
+                        "w": 0.6505416105205646,
+                        "xyz": [
+                            -0.35532164427170404,
+                            0.5896896805671884,
+                            0.32063721356999414
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9610051512718201,
+                    "position": [
+                        -0.08915583181078546,
+                        0.045272698742337525,
+                        -0.012834768454922596
+                    ],
+                    "orientation": {
+                        "w": 0.7149403063150307,
+                        "xyz": [
+                            0.20705108549548595,
+                            0.6407523900189868,
+                            -0.18821950240681015
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9392333626747131,
+                    "position": [
+                        -0.08727943288977258,
+                        0.04024189535994083,
+                        0.03136803797315224
+                    ],
+                    "orientation": {
+                        "w": 0.21978704348388395,
+                        "xyz": [
+                            0.7919248078082971,
+                            -0.14732605296627588,
+                            0.5503124461719748
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8904640674591064,
+                    "position": [
+                        -0.09254602479632013,
+                        -0.058638976770453155,
+                        0.023833729614125332
+                    ],
+                    "orientation": {
+                        "w": 0.17679628238258122,
+                        "xyz": [
+                            -0.7658294560562463,
+                            -0.1584984466384587,
+                            -0.5976006703355412
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade track insert",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide slider path",
+                "cover internal mechanism",
+                "indicate control area",
+                "reinforce handle opening"
+            ],
+            "semantic_description": "Small rectangular light gray insert set into the handle, appearing as a smooth hard plastic or painted panel with a flat finish around the slider track area.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/c72407ae431d54c7ad70806f6815d1be/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b26607f47787fc90830b509b56ec662ebdfa4ab7a69987d6bfa9be6541d38ca8
+size 3781912

dataset/desktop_supplies/office_tools/c72407ae431d54c7ad70806f6815d1be/cutter_knife_024.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>YES</PartSegChecker>