Add asset desktop_supplies/office_tools/2038cb87f798564aa489aff666e557cb

.gitattributes

@@ -6526,3 +6526,4 @@ dataset/desktop_supplies/office_tools/1bacd3889582519e93e11f08cdb6545a/affordanc
 dataset/desktop_supplies/office_tools/1d6d7d390e3f52299a1c75ee8a30a871/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/2038cb87f798564aa489aff666e557cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/2038cb87f798564aa489aff666e557cb/affordance/affordance_annot.json

@@ -0,0 +1,250 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle body of cutter knife",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main handle to pick up and hold the utility knife",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle while guiding a cutting motion",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "stabilize the knife by clamping the handle during blade extension or retraction",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support cutting control",
+                "house the blade mechanism",
+                "provide structural body"
+            ],
+            "semantic_description": "Long white plastic handle with a smooth matte surface, elongated rounded shape, medium size, forming the main body of the utility knife with a top slot for the slider.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9834468364715576,
+                    "position": [
+                        0.031517462033662014,
+                        0.10461743449559435,
+                        0.0022939968621358275
+                    ],
+                    "orientation": {
+                        "w": 0.5130962560895447,
+                        "xyz": [
+                            0.5045873641888444,
+                            0.5120383025009593,
+                            -0.4689782517982929
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9813769459724426,
+                    "position": [
+                        0.03144964684906881,
+                        0.09966283565154299,
+                        0.004167830920778215
+                    ],
+                    "orientation": {
+                        "w": 0.5069590745952192,
+                        "xyz": [
+                            0.5087401889359212,
+                            0.5179054258895114,
+                            -0.4647040850704955
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9780628085136414,
+                    "position": [
+                        0.03801171590748709,
+                        0.09810100024333224,
+                        0.00038416741881519556
+                    ],
+                    "orientation": {
+                        "w": 0.5000076717884225,
+                        "xyz": [
+                            0.5158528713063544,
+                            0.4904984808650277,
+                            -0.4932538733621974
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9522175192832947,
+                    "position": [
+                        0.04133102034393232,
+                        0.0437408116995357,
+                        0.08862569637130946
+                    ],
+                    "orientation": {
+                        "w": 0.11808112054619499,
+                        "xyz": [
+                            0.7045520806749757,
+                            0.6777093856994245,
+                            -0.17427909548200526
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9383439421653748,
+                    "position": [
+                        -0.03579939420160372,
+                        -0.03820095310220495,
+                        0.0892356903059408
+                    ],
+                    "orientation": {
+                        "w": 0.12621418145932164,
+                        "xyz": [
+                            -0.6717760576351018,
+                            -0.7149535989324488,
+                            -0.1470654961584561
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9376920461654663,
+                    "position": [
+                        0.06319148575130384,
+                        0.029342037567403167,
+                        0.07935047603677958
+                    ],
+                    "orientation": {
+                        "w": 0.08945062734732014,
+                        "xyz": [
+                            -0.6665708850722623,
+                            -0.6858017907063954,
+                            0.2781326020175497
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8081329464912415,
+                    "position": [
+                        0.1184945154673187,
+                        -0.051614758616779,
+                        -0.009682454285211861
+                    ],
+                    "orientation": {
+                        "w": 0.21228164440185884,
+                        "xyz": [
+                            -0.6738552345723929,
+                            0.13208505615975175,
+                            0.6952763222120416
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rear cap with lanyard hole",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect handle end",
+                "provide hanging hole",
+                "indicate rear orientation",
+                "support tether attachment"
+            ],
+            "semantic_description": "Small light blue plastic end cap with a smooth matte finish and rounded shape at the back of the handle, containing a visible lanyard hole.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade of knife",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut materials",
+                "score surfaces",
+                "provide sharp working edge",
+                "extend reach for slicing"
+            ],
+            "semantic_description": "Short dark gray metal utility blade with a reflective hard surface, flat segmented shape, sharp edge, and visible snap-off score lines protruding from the front of the handle.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "slider button",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "extend blade",
+                "retract blade",
+                "adjust blade length",
+                "control blade position"
+            ],
+            "semantic_description": "Small light blue plastic thumb slider with a matte finish and shallow ridged texture, mounted along the top slot of the handle for manual actuation.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade track insert",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide slider travel",
+                "support blade carriage",
+                "cover internal mechanism"
+            ],
+            "semantic_description": "Narrow darker blue insert set into the handle slot, with a smooth slightly glossy surface and elongated shape running lengthwise beneath the slider.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front lock housing",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secure blade assembly",
+                "connect handle to blade mount",
+                "support locking mechanism"
+            ],
+            "semantic_description": "Small blue-green component near the front of the handle, appearing as a compact smooth housing around the blade base and locking area.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "fastener of cutter knife",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten mechanism",
+                "retain internal parts",
+                "support assembly"
+            ],
+            "semantic_description": "Tiny circular metallic fastener near the front mechanism, with a reflective smooth surface and very small size set into the handle beside the front housing.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade carriage piece",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold blade segment",
+                "link slider to blade",
+                "support extension mechanism"
+            ],
+            "semantic_description": "Small dark internal component visible within the top opening near the blade, with a hard smooth finish and compact shape as part of the blade carriage mechanism.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part colors/descriptions mismatch images; some segmented parts are misidentified or over-specific beyond visible evidence."
+    }
+}

dataset/desktop_supplies/office_tools/2038cb87f798564aa489aff666e557cb/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c69ea649630422e02d7f26f7e6b57950a34c2568f588ea581a1a3fd2888608f
+size 2846680

dataset/desktop_supplies/office_tools/2038cb87f798564aa489aff666e557cb/cutter_knife_008.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>