Add asset desktop_supplies/office_tools/2d86f440ad11583db7743a384dd7c6dc

.gitattributes

@@ -6543,4 +6543,4 @@ dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/affordanc
 dataset/desktop_supplies/office_tools/2a4bf8c8e22459248f9212a42a081db9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/2f697d3319c957f6915e9bf1fc8f6d7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/2d86f440ad11583db7743a384dd7c6dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/2d86f440ad11583db7743a384dd7c6dc/affordance/affordance_annot.json

@@ -0,0 +1,325 @@
+{
+    "affordances": [
+        {
+            "part_name": "knife body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body to pick up and hold the utility knife",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the body while guiding the blade for cutting",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "stabilize the knife body during handoff or storage placement",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "house internal blade mechanism",
+                "support cutting operation",
+                "shield most of the blade except the exposed tip"
+            ],
+            "semantic_description": "Large pale yellow-green plastic housing with a matte smooth surface, rounded elongated shape, and white printed markings, forming the main body around the blade and slider.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9452363848686218,
+                    "position": [
+                        0.08421445665226202,
+                        -0.057144903810694814,
+                        0.006622581706324127
+                    ],
+                    "orientation": {
+                        "w": 0.6389681365320937,
+                        "xyz": [
+                            -0.16076740992443111,
+                            -0.7173612073969652,
+                            -0.22642097633581046
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9313750267028809,
+                    "position": [
+                        0.08647723523245077,
+                        -0.0562722806353122,
+                        -0.00561321390705416
+                    ],
+                    "orientation": {
+                        "w": 0.20385345072219913,
+                        "xyz": [
+                            -0.6783554724741178,
+                            0.17323785771473044,
+                            0.6842998379712495
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9241983890533447,
+                    "position": [
+                        -0.08579471680059214,
+                        -0.05022490140981972,
+                        -0.00582595825108001
+                    ],
+                    "orientation": {
+                        "w": 0.7031930205588529,
+                        "xyz": [
+                            -0.18440739462981665,
+                            0.6651313240428559,
+                            0.1706276953491332
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9226732850074768,
+                    "position": [
+                        -0.08614029708041926,
+                        -0.05294298869557679,
+                        -0.002087538865453098
+                    ],
+                    "orientation": {
+                        "w": 0.6925794923576807,
+                        "xyz": [
+                            -0.1922949260635744,
+                            0.6722882346781246,
+                            0.17715766336557964
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9193722605705261,
+                    "position": [
+                        -0.08791395994558115,
+                        -0.052219991805031896,
+                        0.0010507870101719163
+                    ],
+                    "orientation": {
+                        "w": 0.6810073946448407,
+                        "xyz": [
+                            -0.1698754855494307,
+                            0.6899474711557714,
+                            0.17704161910168953
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.917314887046814,
+                    "position": [
+                        -0.0847138759745576,
+                        -0.05401453492231667,
+                        -0.006720518729707692
+                    ],
+                    "orientation": {
+                        "w": 0.706523798057522,
+                        "xyz": [
+                            -0.18841587734110735,
+                            0.6570296213364792,
+                            0.18340026344200688
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "slider button",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press and slide the button to extend or retract the blade",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "use fingertip contact on the slider for fine blade adjustment",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "extend blade",
+                "retract blade",
+                "control blade position",
+                "provide thumb actuation point"
+            ],
+            "semantic_description": "Small orange plastic ridged button with a matte finish and textured surface, mounted in the top slot near the center of the knife body.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_28": {
+                    "confidence": 0.8965267539024353,
+                    "position": [
+                        0.0014061194779060315,
+                        0.10898761334829032,
+                        0.002858769345039036
+                    ],
+                    "orientation": {
+                        "w": 0.5378463823156717,
+                        "xyz": [
+                            0.5267642422909788,
+                            -0.46788678417700325,
+                            0.4629499533060319
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.8945313096046448,
+                    "position": [
+                        0.0006113814706623089,
+                        0.11085453513078392,
+                        0.008642659486213233
+                    ],
+                    "orientation": {
+                        "w": 0.5299847436135505,
+                        "xyz": [
+                            0.5744877440359306,
+                            0.4509189082418241,
+                            -0.4309897234034557
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.8935720920562744,
+                    "position": [
+                        -0.001357479330181377,
+                        0.10523897293023765,
+                        0.003820373174676206
+                    ],
+                    "orientation": {
+                        "w": 0.46318177466606164,
+                        "xyz": [
+                            0.4705306861454075,
+                            0.5445041134760289,
+                            -0.5172801827060585
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.7355330586433411,
+                    "position": [
+                        0.05586064261660795,
+                        -0.07276641693897545,
+                        -0.003634557629993651
+                    ],
+                    "orientation": {
+                        "w": 0.3449627077706885,
+                        "xyz": [
+                            -0.6237802554129545,
+                            0.325538834447215,
+                            0.6212273259212058
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9114573001861572,
+                    "position": [
+                        0.020012574543216033,
+                        0.10213510575704277,
+                        0.012893372178950813
+                    ],
+                    "orientation": {
+                        "w": 0.458571450972802,
+                        "xyz": [
+                            0.3887110260295957,
+                            -0.6459182436564748,
+                            0.4705375490940685
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.9097099304199219,
+                    "position": [
+                        0.042278144781448646,
+                        0.09911067667417228,
+                        0.022274761424341705
+                    ],
+                    "orientation": {
+                        "w": 0.5121700079058796,
+                        "xyz": [
+                            0.34105799927014846,
+                            -0.6879315002462462,
+                            0.38485266674986696
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut material",
+                "score surfaces",
+                "pierce thin material",
+                "provide sharp working edge"
+            ],
+            "semantic_description": "Small exposed silver metal triangular blade with a reflective smooth finish and sharp edge, protruding from one end of the knife body.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "screw fastener",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten housing",
+                "hold internal parts together",
+                "allow assembly"
+            ],
+            "semantic_description": "Small circular metal fastener with a dark center and slightly reflective rim, set into the body near one end as a housing connector.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "slider track slot",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide slider motion",
+                "constrain blade adjustment",
+                "provide travel path for the slider"
+            ],
+            "semantic_description": "Narrow recessed slot in the housing beneath the slider button, visible as a slim lengthwise opening in the top surface.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side seam / layered edge",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form housing side edge",
+                "cover seam between housing layers",
+                "provide structural enclosure edge"
+            ],
+            "semantic_description": "Thin darker side band visible along the housing edge, appearing as a narrow layered seam around part of the knife perimeter.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom edge strip",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form lower housing edge",
+                "cover lower seam",
+                "provide edge finishing"
+            ],
+            "semantic_description": "Very thin lower edge band visible along the outer housing perimeter as a slim seam-like boundary detail.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Brown and teal masks are just visible housing edges, not meaningful distinct parts; one part also misdescribes screw appearance."
+    }
+}

dataset/desktop_supplies/office_tools/2d86f440ad11583db7743a384dd7c6dc/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c3cd6a73cece380142a05474f0bc2ab27022367359d97fdf79ea81634ab56e7
+size 3800396

dataset/desktop_supplies/office_tools/2d86f440ad11583db7743a384dd7c6dc/cutter_knife_023.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>