Add asset desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12

.gitattributes

@@ -8245,3 +8245,4 @@ dataset/desktop_supplies/office_tools/0ce93da77e1653439b4263effdc63116/affordanc
 dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/0d880e1f14cb5574acfaacbf4786e865/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/affordance/affordance_annot.json

@@ -0,0 +1,213 @@
+{
+    "affordances": [
+        {
+            "part_name": "cutter knife body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body to pick up and hold the cutter knife during use",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the body to stabilize the knife while extending or retracting the blade",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the body to orient the blade for a cutting task",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "house the blade slider mechanism",
+                "support and protect the blade",
+                "provide leverage for cutting",
+                "enable tool orientation"
+            ],
+            "semantic_description": "Long blue-and-white plastic body with a mostly matte hard surface, ridged sides for grip, an elongated rectangular shape, and a small metal loop at the rear opposite the blade.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9840909838676453,
+                    "position": [
+                        0.09785926010226831,
+                        -0.0012158504105173051,
+                        0.00044480290125648025
+                    ],
+                    "orientation": {
+                        "w": 0.7090936101731341,
+                        "xyz": [
+                            -0.019109700018686383,
+                            -0.7036000391435577,
+                            -0.04204826148619318
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.983039915561676,
+                    "position": [
+                        0.09928721602773294,
+                        -0.006107934401370585,
+                        0.0016542522444069618
+                    ],
+                    "orientation": {
+                        "w": 0.06132825215630333,
+                        "xyz": [
+                            -0.7039670008756429,
+                            0.041161361049458556,
+                            0.706381659955977
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9829469919204712,
+                    "position": [
+                        0.09765574004268274,
+                        0.004217291600070894,
+                        -0.0022780218187108403
+                    ],
+                    "orientation": {
+                        "w": 0.716264409012893,
+                        "xyz": [
+                            -0.014755730406265854,
+                            -0.6968388053777157,
+                            -0.034106364821650824
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.982878565788269,
+                    "position": [
+                        0.09806107397889718,
+                        -0.004825038951821625,
+                        -0.002116262961862958
+                    ],
+                    "orientation": {
+                        "w": 0.7126548064707569,
+                        "xyz": [
+                            -0.017623024100511652,
+                            -0.7000891102990775,
+                            -0.04108276373768219
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9824588298797607,
+                    "position": [
+                        0.09900840785121545,
+                        -0.0035007273545488715,
+                        -0.002479434062479413
+                    ],
+                    "orientation": {
+                        "w": 0.7150486131533065,
+                        "xyz": [
+                            -0.02397068191240095,
+                            -0.6972431027990459,
+                            -0.04453024629783705
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9822997450828552,
+                    "position": [
+                        0.09774050529813394,
+                        -0.0013468198012560606,
+                        -0.0021515132884815102
+                    ],
+                    "orientation": {
+                        "w": 0.033048765458619914,
+                        "xyz": [
+                            -0.695712966475452,
+                            0.018637649755348207,
+                            0.7173171442194763
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9815360903739929,
+                    "position": [
+                        0.09727104421472177,
+                        0.005105703952722251,
+                        -0.0038519492863997584
+                    ],
+                    "orientation": {
+                        "w": 0.7193135626139104,
+                        "xyz": [
+                            -0.01398864471387795,
+                            -0.6939644752788612,
+                            -0.028383507705850557
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.981086015701294,
+                    "position": [
+                        0.09763969894265756,
+                        0.0028891187394037843,
+                        -0.007429346025674022
+                    ],
+                    "orientation": {
+                        "w": 0.7279403277627011,
+                        "xyz": [
+                            -0.015464239414517146,
+                            -0.684226977685257,
+                            -0.04119683875930749
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9808006882667542,
+                    "position": [
+                        0.09836361225461587,
+                        -0.0033112700330093503,
+                        -0.00234242463739065
+                    ],
+                    "orientation": {
+                        "w": 0.039598318250336606,
+                        "xyz": [
+                            -0.7014045766299246,
+                            0.02268249942414169,
+                            0.7113009892402901
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9799656867980957,
+                    "position": [
+                        0.09964106645202264,
+                        -0.0050064349779859185,
+                        -0.005885855809538043
+                    ],
+                    "orientation": {
+                        "w": 0.7252397133099344,
+                        "xyz": [
+                            -0.023549603347754366,
+                            -0.6864804017630213,
+                            -0.04708962110241637
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade of knife",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut material",
+                "score surfaces",
+                "slice thin material",
+                "provide the sharp working edge"
+            ],
+            "semantic_description": "Short silver-gray metal utility blade with a reflective hard finish, thin flat shape, sharp exposed edge, and small segmented score lines protruding from the front of the handle.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb3567faf7d08a8c2039230f4d965c8cc9b8ba8371cc93bfc18f38124883d24
+size 3778880

dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/cutter_knife_027.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>