Add asset kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad

.gitattributes

@@ -8383,3 +8383,4 @@ dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/affordan
 dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/affordance/affordance_annot.json

@@ -0,0 +1,268 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and manipulate the utility knife",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to orient the blade for cutting tasks",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "stabilize the tool by gripping the handle during storage or handoff",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support tool handling",
+                "provide user control",
+                "house and support the blade assembly"
+            ],
+            "semantic_description": "Long light blue and gray plastic handle with a mostly matte smooth surface, rounded elongated shape, and recessed grip slots, forming the largest rear portion of the tool.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.9894536733627319,
+                    "position": [
+                        -0.03125671111047268,
+                        -0.0968669651520031,
+                        0.001379820445436053
+                    ],
+                    "orientation": {
+                        "w": 0.4278487671790514,
+                        "xyz": [
+                            -0.5613949699415963,
+                            -0.43205297065170756,
+                            -0.561347798337781
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9892265796661377,
+                    "position": [
+                        -0.023284517228603363,
+                        -0.09823497370598488,
+                        0.003272656394983642
+                    ],
+                    "orientation": {
+                        "w": 0.44261868624942446,
+                        "xyz": [
+                            -0.5533049593135531,
+                            -0.45323207178918445,
+                            -0.5408539633612247
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9888140559196472,
+                    "position": [
+                        -0.04108555428683758,
+                        0.09177419557454414,
+                        -0.006601354296435602
+                    ],
+                    "orientation": {
+                        "w": 0.5868266768970539,
+                        "xyz": [
+                            0.3912817028458396,
+                            0.5760891606556315,
+                            -0.4131033276011095
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.9886770248413086,
+                    "position": [
+                        -0.02706615813076496,
+                        0.09286833568694419,
+                        0.0021019003324909136
+                    ],
+                    "orientation": {
+                        "w": 0.3835677259273993,
+                        "xyz": [
+                            0.5942524370575353,
+                            -0.3844693114187989,
+                            0.5932311431939646
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9885147213935852,
+                    "position": [
+                        0.028648005798459053,
+                        0.0954669119346363,
+                        -0.002126325576682575
+                    ],
+                    "orientation": {
+                        "w": 0.4697233554719954,
+                        "xyz": [
+                            0.5462046111300535,
+                            0.4467405669078828,
+                            -0.5305123542229907
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.98837810754776,
+                    "position": [
+                        -0.030906101688742638,
+                        0.09008481367709464,
+                        0.00385676026053261
+                    ],
+                    "orientation": {
+                        "w": 0.3491764014524321,
+                        "xyz": [
+                            0.616071954139059,
+                            -0.36591693407669157,
+                            0.6038509628608084
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9880988001823425,
+                    "position": [
+                        0.010173784103244543,
+                        0.09907470657708473,
+                        -0.0049884446925716475
+                    ],
+                    "orientation": {
+                        "w": 0.5050623003474317,
+                        "xyz": [
+                            0.5025697126235554,
+                            0.495445571775587,
+                            -0.4968595798907366
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.9878294467926025,
+                    "position": [
+                        -0.04106112755835056,
+                        0.08871892853858299,
+                        -0.0003576643211999908
+                    ],
+                    "orientation": {
+                        "w": 0.3507086369194518,
+                        "xyz": [
+                            0.6154185457022855,
+                            -0.35127001461519847,
+                            0.612268603170228
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9877955913543701,
+                    "position": [
+                        0.0033836262300610542,
+                        -0.09676709011910134,
+                        9.938432776834816e-05
+                    ],
+                    "orientation": {
+                        "w": 0.5010774530589152,
+                        "xyz": [
+                            -0.49614896432727634,
+                            0.4978737968243375,
+                            0.5048556958861415
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade and holder",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "carefully grasp the dull holder region near the rear of the exposed front assembly to reorient the tool in a controlled setup",
+                    "confidence": 0.22
+                },
+                {
+                    "scenario": "lightly stabilize the front holder area while another manipulator works on the handle, avoiding the sharp edge",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "provide the cutting tip",
+                "support and position the blade",
+                "extend forward from the handle for cutting",
+                "make precise contact with material during cutting"
+            ],
+            "semantic_description": "Narrow front assembly consisting of a black holder with a small silver fastener and an exposed silver utility blade tip, with hard mostly smooth surfaces extending forward from the handle.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9618973731994629,
+                    "position": [
+                        -0.08500746451318264,
+                        0.08102232231976814,
+                        0.027804774508695118
+                    ],
+                    "orientation": {
+                        "w": 0.2624620084527648,
+                        "xyz": [
+                            0.6685378943225241,
+                            -0.4357546684400747,
+                            0.5424837757080179
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9495540261268616,
+                    "position": [
+                        0.015011885669082403,
+                        0.08077283962848014,
+                        0.022130261451820843
+                    ],
+                    "orientation": {
+                        "w": 0.26033361737582794,
+                        "xyz": [
+                            0.6647212021787738,
+                            0.4120812415756717,
+                            -0.5661812266222488
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9491831064224243,
+                    "position": [
+                        -0.09849459491670132,
+                        0.08358477815272636,
+                        0.017348270208458416
+                    ],
+                    "orientation": {
+                        "w": 0.3065287247752941,
+                        "xyz": [
+                            0.6504999130868918,
+                            -0.3907284571583973,
+                            0.5746488290497044
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot fastener",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten the blade holder",
+                "join components",
+                "help maintain assembly alignment"
+            ],
+            "semantic_description": "Tiny circular silver metal fastener with a smooth reflective finish located near the center of the black front holder.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle color/material and blade-holder color are mismatched to the RGB image."
+    }
+}

dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b401bbd80d9e9fd265ff0d2d91d07d6f4ef134a20c2b1df7f96cff9eceadc68
+size 3780400

dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/wire_cutters_003.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>YES</PartSegChecker>