Add asset desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b

.gitattributes

@@ -6538,3 +6538,4 @@ dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/affordanc
 dataset/desktop_supplies/office_tools/23224eaa703851d28989151c1baac0fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/affordance/affordance_annot.json

@@ -0,0 +1,180 @@
+{
+    "affordances": [
+        {
+            "part_name": "knife handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and wield the cutter knife safely",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to stabilize the knife while extending or retracting the blade",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle for placement or handoff without contacting the blade",
+                    "confidence": 0.96
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support safe handling",
+                "house the blade mechanism",
+                "provide leverage for cutting",
+                "protect hand from blade body"
+            ],
+            "semantic_description": "Long slightly curved off-white plastic handle with a matte hard smooth surface, medium-sized and elongated, forming the main body around the blade channel with fine ribbing and a rounded rear end.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9114327430725098,
+                    "position": [
+                        -0.00852083569043316,
+                        -0.1223233500495553,
+                        0.0007790396593918558
+                    ],
+                    "orientation": {
+                        "w": 0.502319844507506,
+                        "xyz": [
+                            -0.4991539775789774,
+                            0.5095419848361112,
+                            0.4887607248647508
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9080299139022827,
+                    "position": [
+                        -0.005564440652960911,
+                        -0.12071533594280481,
+                        0.0030814816382189747
+                    ],
+                    "orientation": {
+                        "w": 0.4980362943025163,
+                        "xyz": [
+                            -0.5032795914252756,
+                            -0.5010275476135411,
+                            -0.49763530717241683
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9056368470191956,
+                    "position": [
+                        -0.004231068916851655,
+                        -0.11911904904991388,
+                        -0.001971707712073112
+                    ],
+                    "orientation": {
+                        "w": 0.4976203590700311,
+                        "xyz": [
+                            -0.48428294020268436,
+                            -0.5050667400291919,
+                            -0.5125930161287224
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9007019996643066,
+                    "position": [
+                        -0.019715453177923337,
+                        -0.12437309417873621,
+                        0.010324601051252102
+                    ],
+                    "orientation": {
+                        "w": 0.4918984658501893,
+                        "xyz": [
+                            -0.46471424862013344,
+                            0.5735168627203517,
+                            0.46168709598499724
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8945123553276062,
+                    "position": [
+                        0.0372629513440188,
+                        -0.11455781105905771,
+                        0.010576639291684842
+                    ],
+                    "orientation": {
+                        "w": 0.38561342143778243,
+                        "xyz": [
+                            -0.648916246747229,
+                            0.3506038208594108,
+                            0.554334695570572
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8927295207977295,
+                    "position": [
+                        -0.0031786364561412483,
+                        -0.12781041953712702,
+                        0.001010856209177291
+                    ],
+                    "orientation": {
+                        "w": 0.5024494213796481,
+                        "xyz": [
+                            -0.5076251330835282,
+                            -0.4984735170198875,
+                            -0.49130993888482616
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8867673277854919,
+                    "position": [
+                        -0.0007586066494695842,
+                        -0.1215638080611825,
+                        -0.0009862744809652213
+                    ],
+                    "orientation": {
+                        "w": 0.5460407051045175,
+                        "xyz": [
+                            -0.5273710366813019,
+                            -0.46202054691459105,
+                            -0.45853718744218885
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade slider",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "extend blade",
+                "retract blade",
+                "lock blade position",
+                "control cutting depth"
+            ],
+            "semantic_description": "Small beige plastic thumb slider with a matte smooth hard surface, mounted along the top track near the front-middle of the knife and shaped as a short ridged tab for thumb actuation.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade of knife",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut materials",
+                "score surfaces",
+                "pierce thin material",
+                "provide sharp cutting edge"
+            ],
+            "semantic_description": "Short exposed silver-gray metal utility blade with a dull reflective hard smooth surface, thin and angular at the front tip, showing segmented snap-off lines along its flat face.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3d685b34b3ba1033fddd3e95d63dca992bcce86d145d5f27877881d39a01262
+size 3784384

dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/cutter_knife_001.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>