Add asset desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521

.gitattributes

@@ -6613,3 +6613,4 @@ dataset/desktop_supplies/office_tools/8fb03f5a2e7b5e488e8df7acca2e1e1f/affordanc
 dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/975523fc1df05dbda2067ff05e1eb32b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/affordance/affordance_annot.json

@@ -0,0 +1,227 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle of cutter knife",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and carry the cutter knife",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to guide cutting motion",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the knife while retracting or extending the blade",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support cutting control",
+                "house the blade slider mechanism",
+                "provide separation between hand and blade"
+            ],
+            "semantic_description": "Long white plastic handle with a smooth slightly glossy hard surface, rounded rectangular shape, a hanging hole at one end, and a narrow printed label area along the center.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.864207923412323,
+                    "position": [
+                        0.0602444966789335,
+                        0.08432882174383849,
+                        0.0002974096751131583
+                    ],
+                    "orientation": {
+                        "w": 0.6262738945656622,
+                        "xyz": [
+                            0.3109086125329333,
+                            -0.6415560160818532,
+                            0.3154722204372121
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.862034022808075,
+                    "position": [
+                        0.04764575860463083,
+                        -0.08995171741116792,
+                        0.0017863338762253989
+                    ],
+                    "orientation": {
+                        "w": 0.3856293478241824,
+                        "xyz": [
+                            -0.6252061901857408,
+                            0.34060921904374686,
+                            0.58684971308891
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.8603478074073792,
+                    "position": [
+                        0.05736720538698137,
+                        0.09080392762552947,
+                        0.002145559778000461
+                    ],
+                    "orientation": {
+                        "w": 0.6170844497759282,
+                        "xyz": [
+                            0.3203677554258824,
+                            -0.6371580578974096,
+                            0.3325671246297851
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.859492838382721,
+                    "position": [
+                        0.05439706495963037,
+                        0.08932163461577147,
+                        0.01720315080092405
+                    ],
+                    "orientation": {
+                        "w": 0.565248667438675,
+                        "xyz": [
+                            0.31660466696938055,
+                            -0.690054350989652,
+                            0.32261497406701356
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8594133853912354,
+                    "position": [
+                        0.04820233560167253,
+                        -0.090139941428788,
+                        -0.002758886414085282
+                    ],
+                    "orientation": {
+                        "w": 0.36733546452090327,
+                        "xyz": [
+                            -0.6082881071136798,
+                            0.35426006255198317,
+                            0.6079062784097017
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.8562260270118713,
+                    "position": [
+                        0.047334290808066726,
+                        -0.09155604348052293,
+                        -0.002352887746383203
+                    ],
+                    "orientation": {
+                        "w": 0.37520788381661974,
+                        "xyz": [
+                            -0.6039063537929291,
+                            0.3583017934935282,
+                            0.6050917158164577
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8560066223144531,
+                    "position": [
+                        0.04672114900313318,
+                        -0.09469539776910096,
+                        -0.006421652138669742
+                    ],
+                    "orientation": {
+                        "w": 0.6160527659545306,
+                        "xyz": [
+                            -0.34657936812051426,
+                            -0.5977686650272187,
+                            -0.37819882900999835
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8551573753356934,
+                    "position": [
+                        0.04891930497251451,
+                        -0.09532738581765443,
+                        -0.0023757002600177657
+                    ],
+                    "orientation": {
+                        "w": 0.3691853335397482,
+                        "xyz": [
+                            -0.6099350853089753,
+                            0.3549555050274663,
+                            0.6047213992070842
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8525973558425903,
+                    "position": [
+                        -0.07062232145108283,
+                        -0.07430321827996522,
+                        -0.003485661913146032
+                    ],
+                    "orientation": {
+                        "w": 0.6787721237809873,
+                        "xyz": [
+                            -0.28748613760101716,
+                            0.6298051010525832,
+                            0.24487886669380587
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8518432974815369,
+                    "position": [
+                        0.04510478279553354,
+                        -0.0952879647957161,
+                        -0.004654517844755901
+                    ],
+                    "orientation": {
+                        "w": 0.384338015835681,
+                        "xyz": [
+                            -0.5933302459170618,
+                            0.35920331272066996,
+                            0.609275380262478
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade of knife",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut material",
+                "score surfaces",
+                "provide sharp working edge",
+                "penetrate thin material"
+            ],
+            "semantic_description": "Short exposed silver metal blade with a matte to lightly reflective hard surface, thin flat shape, and an angled sharp tip protruding from the front of the handle.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade base of cutter knife",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the blade to the handle assembly",
+                "support blade extension from the handle",
+                "position the blade at the handle front",
+                "reinforce the blade mounting area"
+            ],
+            "semantic_description": "Small exposed metallic section at the base of the blade near the front of the handle, with a smooth hard surface and compact wedge-like shape between the white handle and the silver blade.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27a2175951bb480e3696ed555d6c68b75c5673bcea0653235e7f82635c4501d5
+size 3780028

dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/cutter_knife_029.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>