Add asset kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06

.gitattributes

@@ -7002,3 +7002,4 @@ dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/affordan
 dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/591c78335d405c059df45a9f9d212920/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/affordance/affordance_annot.json

@@ -0,0 +1,333 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle grips",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp both handle grips to pick up and reposition the tool",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle grips while squeezing to operate the front mechanism",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp one handle grip to steady the tool during adjustment or placement",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide primary handhold",
+                "enable squeezing action",
+                "improve grip comfort",
+                "increase friction for secure holding",
+                "help control the tool during operation"
+            ],
+            "semantic_description": "Two elongated black to dark gray rubber-coated handle covers with a matte finish and ribbed texture, mounted at the rear of the tool and shaped for comfortable gripping.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9714651107788086,
+                    "position": [
+                        0.02124720287974924,
+                        -0.10379191511310637,
+                        -0.017371455367538147
+                    ],
+                    "orientation": {
+                        "w": 0.437004966721326,
+                        "xyz": [
+                            -0.5507111339849807,
+                            0.3543452446108185,
+                            0.6165901017593205
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9628041386604309,
+                    "position": [
+                        -0.08580830285791308,
+                        -0.10742206894792616,
+                        0.011285451080766506
+                    ],
+                    "orientation": {
+                        "w": 0.573908924125629,
+                        "xyz": [
+                            -0.41048319697088526,
+                            0.6186734730367506,
+                            0.34550720046645833
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9615319967269897,
+                    "position": [
+                        -0.07789773831609637,
+                        -0.10806944989599288,
+                        0.003720516644534655
+                    ],
+                    "orientation": {
+                        "w": 0.5896318391357512,
+                        "xyz": [
+                            -0.3954846227016509,
+                            0.5975568847197261,
+                            0.37262847047425174
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.960227370262146,
+                    "position": [
+                        -0.05973179975990206,
+                        -0.11013592802919447,
+                        0.0042117404082091525
+                    ],
+                    "orientation": {
+                        "w": 0.41802210316567495,
+                        "xyz": [
+                            -0.5736389815780597,
+                            -0.41449317663184837,
+                            -0.569553550252012
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9525186419487,
+                    "position": [
+                        -0.08610109577421099,
+                        -0.10084437602199614,
+                        0.041063867349294014
+                    ],
+                    "orientation": {
+                        "w": 0.5029370724666165,
+                        "xyz": [
+                            -0.5167828183164024,
+                            0.6474971807242963,
+                            0.24644922557344937
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9501616954803467,
+                    "position": [
+                        -0.05930755625013262,
+                        -0.007337122922763228,
+                        0.08572643234219868
+                    ],
+                    "orientation": {
+                        "w": 0.1964798625144695,
+                        "xyz": [
+                            -0.7003828819822244,
+                            0.6649037572956566,
+                            -0.16959503467580372
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.949752151966095,
+                    "position": [
+                        -0.08555076608899981,
+                        -0.10704426490701735,
+                        0.0011529122857609764
+                    ],
+                    "orientation": {
+                        "w": 0.5932543469790826,
+                        "xyz": [
+                            -0.3810751072343814,
+                            0.612420920538713,
+                            0.3574516170382253
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9482684135437012,
+                    "position": [
+                        0.014668544172309339,
+                        -0.005999290617182851,
+                        0.09380786104884464
+                    ],
+                    "orientation": {
+                        "w": 0.1135015771695443,
+                        "xyz": [
+                            -0.6842765723083234,
+                            -0.716899504580272,
+                            0.07027136616402357
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9476447105407715,
+                    "position": [
+                        -0.020090518170036376,
+                        -0.01306431950069964,
+                        -0.09641877577814739
+                    ],
+                    "orientation": {
+                        "w": 0.696921311762089,
+                        "xyz": [
+                            0.015732846476316103,
+                            0.05914082427855538,
+                            0.7145316827525665
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9466115832328796,
+                    "position": [
+                        -0.0851412225747481,
+                        -0.10866237455047667,
+                        -0.00395528475928586
+                    ],
+                    "orientation": {
+                        "w": 0.5969495751861835,
+                        "xyz": [
+                            -0.37066369586434794,
+                            0.6028301610760497,
+                            0.37796220201263603
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.946500837802887,
+                    "position": [
+                        -0.024811347597278655,
+                        -0.00010454549919813871,
+                        -0.097721815269324
+                    ],
+                    "orientation": {
+                        "w": 0.6937028154256086,
+                        "xyz": [
+                            -0.0032365612214296647,
+                            -0.01367371507868409,
+                            0.7201242657055735
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "metal body and jaw assembly",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the metal front/body lightly to reorient the tool when the handles are not accessible",
+                    "confidence": 0.4
+                },
+                {
+                    "scenario": "pinch the front metal body to place or retrieve the tool carefully from a surface",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "form the main structural body",
+                "support the jaw or working end",
+                "house the front mechanism",
+                "transmit force from the handles",
+                "engage the workpiece at the front"
+            ],
+            "semantic_description": "A silver metallic body extending along the front and side of the tool, with a reflective finish, flat machined faces, and a stepped elongated shape that includes the jaw region and adjacent frame surfaces.",
+            "id": 17,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.969563364982605,
+                    "position": [
+                        0.015232024132274091,
+                        0.10832328326068819,
+                        -0.0010826267971424386
+                    ],
+                    "orientation": {
+                        "w": 0.5222655851032473,
+                        "xyz": [
+                            0.48784303215201713,
+                            0.5132107809733097,
+                            -0.4752499646399298
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.960941731929779,
+                    "position": [
+                        0.05360988189931959,
+                        0.10382927185855806,
+                        -0.005328506857040338
+                    ],
+                    "orientation": {
+                        "w": 0.43642749346978005,
+                        "xyz": [
+                            0.5598958111933654,
+                            0.4035869027686826,
+                            -0.577204760432025
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9486956596374512,
+                    "position": [
+                        0.061900794855318964,
+                        0.09980672574602067,
+                        0.006485908597824164
+                    ],
+                    "orientation": {
+                        "w": 0.38408016355894603,
+                        "xyz": [
+                            0.5918508062696491,
+                            0.40471844855066685,
+                            -0.5817198883322119
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side linkage plate",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "transfer motion through the mechanism",
+                "connect handle movement to the front assembly",
+                "support opening and closing action",
+                "stabilize the side mechanism"
+            ],
+            "semantic_description": "A long narrow red-mask side strip corresponding to a dark metal linkage plate along one side of the tool body, running between the handle area and the front assembly with a slim flat profile.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot fasteners",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide pivot points",
+                "secure the joints",
+                "support mechanical linkage",
+                "enable articulation of the mechanism"
+            ],
+            "semantic_description": "Small round silver metal fasteners with reflective smooth surfaces, visible as circular discs near the front and side joints of the tool.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spring element",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "bias the handles apart",
+                "assist reopening after squeezing",
+                "support the mechanism",
+                "maintain tool readiness"
+            ],
+            "semantic_description": "A small metallic spring component near the center of the tool between the handles and body, visible as a compact dark metal element.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1900a55d06a2feae6810f67989a31d09f1b07432e665ede73b9633137087cc93
+size 3826764

dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/wire_cutters_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>NO: {"summary":"Over-fragmented; many tiny spots split hardware, while jaw/cutter assembly is inconsistently partitioned.","merge_groups":[{"colors":["Green","Magenta","White"],"target_part":"jaw and cutter assembly","reason":"small hardware and jaw surfaces form one functional head"},{"colors":["Crimson","Maroon"],"target_part":"main metal frame","reason":"same frame side split without distinct function"}]}</PartSegChecker>