Add asset desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d

.gitattributes

@@ -6633,4 +6633,4 @@ dataset/desktop_supplies/office_tools/ab2056d72a145605bb59153ae4dae0a2/affordanc
 dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ac403a08cf5f547295d2c32246594264/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/b172b007f8655544b81d76e3f51dcd7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/affordance/affordance_annot.json

@@ -0,0 +1,237 @@
+{
+    "affordances": [
+        {
+            "part_name": "blade of utility knife",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut materials",
+                "score surfaces",
+                "provide sharp cutting edge",
+                "extend from handle for utility cutting"
+            ],
+            "semantic_description": "Short exposed silver-gray metal blade with a slightly reflective finish, flat faces, and a thin trapezoidal wedge shape protruding from the front of the knife.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "knife handle body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle body to pick up and hold the utility knife for use",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp the handle body to stabilize the knife while extending or retracting the blade slider",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle body to reposition or store the knife safely with the blade pointed away",
+                    "confidence": 0.96
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support safe handling",
+                "house blade slider mechanism",
+                "provide leverage for cutting"
+            ],
+            "semantic_description": "Long curved utility-knife handle with a mostly white body and black ribbed grip section, made of hard plastic with mixed matte and slightly glossy surfaces, medium-sized and ergonomic, forming most of the tool body.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9903083443641663,
+                    "position": [
+                        0.09797633216658141,
+                        0.004410438938066363,
+                        -0.002278033491165843
+                    ],
+                    "orientation": {
+                        "w": 0.06854454352789931,
+                        "xyz": [
+                            -0.6909477353645251,
+                            -0.018224068957376605,
+                            0.719416955497869
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9895941019058228,
+                    "position": [
+                        0.09835666195431259,
+                        0.014002803713083267,
+                        -0.0049791313576861285
+                    ],
+                    "orientation": {
+                        "w": 0.7264272354939593,
+                        "xyz": [
+                            -0.003965278383147303,
+                            -0.6866466545488945,
+                            -0.02835700789503868
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9885867238044739,
+                    "position": [
+                        0.09816077873983886,
+                        -0.010913616511970758,
+                        -0.005434027953015175
+                    ],
+                    "orientation": {
+                        "w": 0.018118063292888828,
+                        "xyz": [
+                            -0.6903018464546562,
+                            0.0072996429429652565,
+                            0.7232577768518721
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9884636998176575,
+                    "position": [
+                        -0.09422658606490586,
+                        0.03762229112908244,
+                        -0.004159882279054727
+                    ],
+                    "orientation": {
+                        "w": 0.7173309346085663,
+                        "xyz": [
+                            0.06093969649651419,
+                            0.692089273403349,
+                            -0.05229838701659528
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9884387850761414,
+                    "position": [
+                        0.09827393815794494,
+                        0.023969877045601606,
+                        -0.014699776271299925
+                    ],
+                    "orientation": {
+                        "w": 0.7548248956773397,
+                        "xyz": [
+                            -0.0001605054065541006,
+                            -0.6557351572658875,
+                            -0.01583523379019971
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9883726239204407,
+                    "position": [
+                        0.09761135057487991,
+                        0.009019107441417873,
+                        -0.0020107975797145627
+                    ],
+                    "orientation": {
+                        "w": 0.014557040535015112,
+                        "xyz": [
+                            -0.7048312133557844,
+                            0.019240478074289302,
+                            0.7089646375199169
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9883027672767639,
+                    "position": [
+                        -0.09899591877183411,
+                        0.03036969853565097,
+                        -0.001086536176444497
+                    ],
+                    "orientation": {
+                        "w": 0.022971353385093807,
+                        "xyz": [
+                            0.7001358221319246,
+                            -0.005154307632772803,
+                            0.7136214546971928
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rear end cap",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly grasp the rear end cap area to stabilize or orient the knife during pickup",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the rear end while manipulating the rest of the handle during inspection or storage",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "finish handle end",
+                "protect rear corner",
+                "form lanyard or hanging-hole area",
+                "aid handle orientation"
+            ],
+            "semantic_description": "Small rounded white plastic end cap at the rear end of the handle, smooth and hard with a slightly glossy finish, wrapping around the butt of the knife near the hanging-hole area.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_28": {
+                    "confidence": 0.7949777245521545,
+                    "position": [
+                        -0.08890560492000077,
+                        -0.08622258575633168,
+                        -0.0034329628906561993
+                    ],
+                    "orientation": {
+                        "w": 0.6955487985751382,
+                        "xyz": [
+                            -0.17731567037705714,
+                            0.674980041387859,
+                            0.17080095306367862
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.7385461926460266,
+                    "position": [
+                        -0.0868678785773227,
+                        -0.0862550032325089,
+                        -0.00272839827084681
+                    ],
+                    "orientation": {
+                        "w": 0.6885816789819631,
+                        "xyz": [
+                            -0.1730947648432321,
+                            0.6849577484952883,
+                            0.1634819761640755
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.6432130336761475,
+                    "position": [
+                        -0.1037702657195041,
+                        -0.03716236772015691,
+                        -0.008510032283084001
+                    ],
+                    "orientation": {
+                        "w": 0.7265976081572532,
+                        "xyz": [
+                            0.022485030118173557,
+                            0.686695190568269,
+                            -0.00023343339854016266
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle color/material description is wrong; body is yellow/black, not white. Rear cap description also mismatches visible color/material details."
+    }
+}

dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:078bd0c0918123ad49338703a9f0721f3159f236c3dbeecaa6e71e38907609dd
+size 3781532

dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/cutter_knife_020.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>