Add asset desktop_supplies/office_tools/bece2c2efeaf5cedad9ff40a6f498a6b

.gitattributes

@@ -6644,4 +6644,4 @@ dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/affordanc
 dataset/desktop_supplies/office_tools/bc17e30217e15df0a045fdcfc1a9aa8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/be65b7ab0bac513ea1e916913c8b9244/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/bece2c2efeaf5cedad9ff40a6f498a6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/bece2c2efeaf5cedad9ff40a6f498a6b/affordance/affordance_annot.json

@@ -0,0 +1,464 @@
+{
+    "affordances": [
+        {
+            "part_name": "larger handle loop",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the larger handle loop to pick up and reorient the scissors",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch the outer frame of this loop to stabilize the scissors during placement or handoff",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide finger insertion",
+                "serve as a primary gripping area",
+                "help control orientation",
+                "enable opening and closing with the other loop"
+            ],
+            "semantic_description": "A larger rounded handle loop at the rear of the scissors, made of silver-gray metal with a smooth reflective finish and hard rigid texture.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.9371743202209473,
+                    "position": [
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+                        -0.0198779516358627,
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+                    ],
+                    "orientation": {
+                        "w": 0.05949065200339456,
+                        "xyz": [
+                            -0.706489223226507,
+                            -0.04666560707343881,
+                            -0.7036733339451517
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.9361873865127563,
+                    "position": [
+                        -0.12416934361681342,
+                        -0.008854842788423412,
+                        -0.0011717201850842685
+                    ],
+                    "orientation": {
+                        "w": 0.06078684201187925,
+                        "xyz": [
+                            -0.707098765837422,
+                            0.025201376541839182,
+                            -0.7040462952177321
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.9349998235702515,
+                    "position": [
+                        -0.12596833100542426,
+                        -0.0053330176015151665,
+                        0.005137482337886468
+                    ],
+                    "orientation": {
+                        "w": 0.6901526011313427,
+                        "xyz": [
+                            0.022881914006955502,
+                            0.7231359607461048,
+                            0.015497981766284098
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9324013590812683,
+                    "position": [
+                        -0.12930499901995063,
+                        -0.006691365546430461,
+                        0.0014430256851483136
+                    ],
+                    "orientation": {
+                        "w": 0.6946982728020452,
+                        "xyz": [
+                            0.013423013748902111,
+                            0.7189205996334738,
+                            0.019165173894305627
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9218663573265076,
+                    "position": [
+                        -0.12212594738230109,
+                        -0.002804331059451215,
+                        0.003407243319088593
+                    ],
+                    "orientation": {
+                        "w": 0.6980342451655726,
+                        "xyz": [
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+                            0.7156338444796513,
+                            -0.0008530597017099878
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9064613580703735,
+                    "position": [
+                        -0.12195452442392707,
+                        -0.05450974222912919,
+                        -0.00033264452940784395
+                    ],
+                    "orientation": {
+                        "w": 0.673742363154007,
+                        "xyz": [
+                            -0.15842262118626513,
+                            0.6950536533334429,
+                            0.1946122302836109
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8936932682991028,
+                    "position": [
+                        -0.12502401461824775,
+                        -0.013276315337861888,
+                        0.013044528808677569
+                    ],
+                    "orientation": {
+                        "w": 0.6782535022006522,
+                        "xyz": [
+                            0.01177789568187942,
+                            0.7311852385164046,
+                            0.07212222196774941
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.8809287548065186,
+                    "position": [
+                        -0.12543738773092628,
+                        -0.05246849921240937,
+                        -0.005023160803830251
+                    ],
+                    "orientation": {
+                        "w": 0.687283965419016,
+                        "xyz": [
+                            -0.13800815647587295,
+                            0.6855614043852422,
+                            0.1964689808630818
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.8792315125465393,
+                    "position": [
+                        -0.1150177656672895,
+                        -0.01780847091868054,
+                        0.01601382266380824
+                    ],
+                    "orientation": {
+                        "w": 0.6726324988727689,
+                        "xyz": [
+                            -0.13529746411084267,
+                            0.7268088512826826,
+                            -0.031764939201845775
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.8765980005264282,
+                    "position": [
+                        -0.11594845494255424,
+                        -0.007309517401154153,
+                        -0.0013046122330706567
+                    ],
+                    "orientation": {
+                        "w": 0.6988159123074263,
+                        "xyz": [
+                            0.0087262690036847,
+                            0.7145728934444975,
+                            0.03107656495775939
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "smaller handle loop",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the smaller handle loop to lift or reposition the scissors",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold this loop while stabilizing the tool for storage or precise placement",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "provide finger insertion",
+                "act as the secondary gripping loop",
+                "help actuate opening and closing",
+                "assist orientation control"
+            ],
+            "semantic_description": "A smaller rounded handle loop opposite the larger one, silver-gray metallic with a smooth reflective surface and rigid oval-like shape.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9549816250801086,
+                    "position": [
+                        0.03809380019083619,
+                        0.09793458315834869,
+                        0.002709827764192596
+                    ],
+                    "orientation": {
+                        "w": 0.3328595575649056,
+                        "xyz": [
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+                            0.37102631869815916,
+                            -0.6057383496630757
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9524036049842834,
+                    "position": [
+                        0.03927359962835908,
+                        0.09525038483843673,
+                        -0.006280135683482513
+                    ],
+                    "orientation": {
+                        "w": 0.34247280033721944,
+                        "xyz": [
+                            0.6095886888952546,
+                            0.3436589593189858,
+                            -0.6269071151932629
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9346734285354614,
+                    "position": [
+                        0.00371175620239228,
+                        0.11110494467720855,
+                        0.010495681461179629
+                    ],
+                    "orientation": {
+                        "w": 0.4334644248793892,
+                        "xyz": [
+                            0.5602807574635139,
+                            0.48903416586876625,
+                            -0.5089593793154142
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9295085072517395,
+                    "position": [
+                        -0.0408147438429296,
+                        0.10615061405405868,
+                        0.020897475216770545
+                    ],
+                    "orientation": {
+                        "w": 0.5215110746441248,
+                        "xyz": [
+                            0.415254939746063,
+                            0.6366053267289964,
+                            -0.38771534921936196
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8586733937263489,
+                    "position": [
+                        -0.11550092836841941,
+                        0.0649801659892546,
+                        0.023537031520390883
+                    ],
+                    "orientation": {
+                        "w": 0.18153908121731357,
+                        "xyz": [
+                            0.7342312982969007,
+                            -0.23890352937681592,
+                            0.6089934862076295
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.8398458361625671,
+                    "position": [
+                        -0.11276955297216773,
+                        0.058593193025444634,
+                        0.03212642404832877
+                    ],
+                    "orientation": {
+                        "w": 0.5638776109828272,
+                        "xyz": [
+                            0.20282798873267,
+                            0.7789441171290393,
+                            -0.18479423478296336
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "carefully pinch the closed blade near the dull spine when the handles are obstructed",
+                    "confidence": 0.23
+                },
+                {
+                    "scenario": "grasp the closed blade section lightly to retrieve the scissors from a tight tray",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "cut material",
+                "provide one shearing edge",
+                "meet the opposing blade",
+                "form part of the pointed working end"
+            ],
+            "semantic_description": "One long narrow silver metallic blade extending forward from the pivot, with a smooth reflective finish, tapered shape, and pointed tip.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "carefully pinch the closed blade near the dull spine for controlled pickup",
+                    "confidence": 0.22
+                },
+                {
+                    "scenario": "lightly grasp this blade side during constrained repositioning of the closed scissors",
+                    "confidence": 0.17
+                }
+            ],
+            "functional_labels": [
+                "cut material",
+                "provide the opposing shearing edge",
+                "close against the other blade",
+                "form part of the pointed working end"
+            ],
+            "semantic_description": "The matching silver metallic blade with a smooth reflective surface, slim tapered geometry, and pointed tip converging with the other blade.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot joint",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the two scissor halves",
+                "allow rotational motion",
+                "maintain blade alignment",
+                "serve as the central hinge"
+            ],
+            "semantic_description": "A small round silver fastener at the center of the scissors, metallic and reflective with a hard smooth finish, linking both halves at the hinge.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "shank",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the narrow shank near the pivot to stabilize the scissors for careful placement",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "grasp this central frame section when the loops are less accessible",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "connect a handle loop to its blade",
+                "transfer force toward the pivot",
+                "provide structural support",
+                "stabilize the central frame"
+            ],
+            "semantic_description": "A narrow curved silver-gray metal section between one handle loop and the pivot area, with a smooth reflective finish and rigid structure.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_90": {
+                    "confidence": 0.9744534492492676,
+                    "position": [
+                        0.023504667449742556,
+                        -0.10084180351987015,
+                        -0.004066348396008834
+                    ],
+                    "orientation": {
+                        "w": 0.5244605427600715,
+                        "xyz": [
+                            -0.46908419311870975,
+                            -0.5032957739718563,
+                            -0.5015919883292097
+                        ]
+                    }
+                },
+                "grasp_92": {
+                    "confidence": 0.23981958627700806,
+                    "position": [
+                        0.10487411031499505,
+                        0.05441888603672851,
+                        0.0021182663331273943
+                    ],
+                    "orientation": {
+                        "w": 0.17116279838171627,
+                        "xyz": [
+                            0.675629906955447,
+                            0.21294725960865235,
+                            -0.6847488516986936
+                        ]
+                    }
+                },
+                "grasp_98": {
+                    "confidence": 0.9492334723472595,
+                    "position": [
+                        0.05797571549192071,
+                        0.10020797136530746,
+                        -0.007132143568014726
+                    ],
+                    "orientation": {
+                        "w": 0.4061723241598209,
+                        "xyz": [
+                            0.5732848481987015,
+                            0.38553581231132217,
+                            -0.5981058964245803
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "stop nub",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "limit closing travel",
+                "set handle contact position",
+                "help maintain cutting alignment"
+            ],
+            "semantic_description": "A tiny metal protrusion near the inner handle and pivot region, silver and reflective with a hard smooth surface, acting as a mechanical stop.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle loop identities and shank color mapping are inconsistent with masks across views."
+    }
+}

dataset/desktop_supplies/office_tools/bece2c2efeaf5cedad9ff40a6f498a6b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
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+size 3783180