Add asset kitchen_supplies/cutting_tools/b133bb6e40f85824a8698e748b55e40a

.gitattributes

@@ -7037,3 +7037,4 @@ dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/affordan
 dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/b546b1f2ecb95e1290213bcc99af9a39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/b133bb6e40f85824a8698e748b55e40a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/b133bb6e40f85824a8698e748b55e40a/affordance/affordance_annot.json

@@ -0,0 +1,283 @@
+{
+    "affordances": [
+        {
+            "part_name": "left handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one handle to pick up and reposition the wire cutters",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold this handle while the other handle is actuated to open or close the jaws",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "stabilize the tool by pinching near the handle during precise cutting setup",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "provide primary grip",
+                "apply squeezing force",
+                "help open and close jaws",
+                "support tool manipulation"
+            ],
+            "semantic_description": "One long curved silver metal handle with a smooth reflective finish and hard surface, forming a slender rear grip arm on one side of the tool.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.755728006362915,
+                    "position": [
+                        -0.1518972497433424,
+                        -0.023755206289933994,
+                        0.007825537453754805
+                    ],
+                    "orientation": {
+                        "w": 0.05862254550461165,
+                        "xyz": [
+                            0.7196362827181282,
+                            0.07731963525909746,
+                            0.6875381384022229
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.7549126744270325,
+                    "position": [
+                        -0.14896158687770367,
+                        -0.021487292397068813,
+                        0.0038628376642009243
+                    ],
+                    "orientation": {
+                        "w": 0.05726785603306683,
+                        "xyz": [
+                            0.7131418528909939,
+                            0.049384721970433865,
+                            0.6969291495959102
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "right handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one handle to pick up and reposition the wire cutters",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold this handle while the other handle is actuated to open or close the jaws",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "stabilize the tool by pinching near the handle during precise cutting setup",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "provide primary grip",
+                "apply squeezing force",
+                "help open and close jaws",
+                "support tool manipulation"
+            ],
+            "semantic_description": "One long curved silver metal handle with a smooth reflective finish and hard surface, forming the opposite rear grip arm and matching the other handle in size.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9601494669914246,
+                    "position": [
+                        0.03804834000766277,
+                        0.1000789696990978,
+                        -0.0029386322858044878
+                    ],
+                    "orientation": {
+                        "w": 0.5398797447969843,
+                        "xyz": [
+                            0.46657338534095644,
+                            -0.5198983115245082,
+                            0.4696220639230957
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.9490918517112732,
+                    "position": [
+                        0.06980259157717228,
+                        0.09205038796062581,
+                        -0.0019219225650886074
+                    ],
+                    "orientation": {
+                        "w": 0.3837971101016021,
+                        "xyz": [
+                            0.5965333711163863,
+                            0.36605213591105046,
+                            -0.6023732640291538
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9449983835220337,
+                    "position": [
+                        0.07754724659025669,
+                        0.08609892378444783,
+                        -0.0013382083416217938
+                    ],
+                    "orientation": {
+                        "w": 0.6190251404401506,
+                        "xyz": [
+                            0.3546404556639156,
+                            -0.6059101746679367,
+                            0.3520097767724814
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9349684715270996,
+                    "position": [
+                        0.020969202741980553,
+                        -0.09658815761213191,
+                        0.0011905588762601838
+                    ],
+                    "orientation": {
+                        "w": 0.5383965097608984,
+                        "xyz": [
+                            -0.4530669950855555,
+                            0.5472501801794325,
+                            0.4531851018458196
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9006207585334778,
+                    "position": [
+                        0.078042546287179,
+                        -0.08082289298181422,
+                        0.0020335282752057537
+                    ],
+                    "orientation": {
+                        "w": 0.33695999400695326,
+                        "xyz": [
+                            -0.6302047359916998,
+                            0.335858651740947,
+                            0.6135950775741434
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.881629467010498,
+                    "position": [
+                        0.08052300103008747,
+                        -0.07998232592944987,
+                        -0.00045688725367654115
+                    ],
+                    "orientation": {
+                        "w": 0.3403200372372334,
+                        "xyz": [
+                            -0.6308904754516023,
+                            0.32859304183815696,
+                            0.6149683675562886
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.775455117225647,
+                    "position": [
+                        -0.011916760355234146,
+                        0.09523315678234212,
+                        -0.002340523889870383
+                    ],
+                    "orientation": {
+                        "w": 0.40600672696577095,
+                        "xyz": [
+                            0.5841388319700318,
+                            -0.38407265015124636,
+                            0.5885818227307286
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "left cutting jaw",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut wire",
+                "shear material",
+                "meet opposite jaw at cutting edge",
+                "guide material into cutter"
+            ],
+            "semantic_description": "Small tapered silver metal jaw with a glossy reflective finish, hard smooth texture, and sharp inward cutting profile at the front of the tool.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right cutting jaw",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut wire",
+                "shear material",
+                "meet opposite jaw at cutting edge",
+                "guide material into cutter"
+            ],
+            "semantic_description": "Small tapered silver metal jaw with a glossy reflective finish, hard smooth texture, and sharp inward cutting profile opposite the other cutter tip.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot joint",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect handles and jaws",
+                "provide rotation axis",
+                "transfer squeezing force",
+                "align cutting motion"
+            ],
+            "semantic_description": "Round central silver metal hinge with a reflective finish and hard smooth surface, located at the middle where both handles and jaws rotate together.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot fastener",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secure the joint",
+                "retain pivot assembly",
+                "maintain jaw alignment"
+            ],
+            "semantic_description": "Small circular silver fastener at the center of the hinge, with a smooth reflective metal surface and compact flush profile.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "return spring",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reopen handles",
+                "assist return motion",
+                "separate handles after squeezing"
+            ],
+            "semantic_description": "Tiny dark metallic spring element between the handles near the pivot, with a compact shape and hard slightly matte mechanical appearance.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/b133bb6e40f85824a8698e748b55e40a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:523452ba9eae940e28bcbfa55455749c8d9f64353334af78379e9a14c07e2534
+size 3787916