Add asset kitchen_supplies/cutting_tools/b8d32bbff77f5f8b98aca723f1343d42

.gitattributes

@@ -7038,4 +7038,4 @@ dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/affordan
 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/b5d37efe1eca5fc695846d4c11fdfc1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/b8d32bbff77f5f8b98aca723f1343d42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/b8d32bbff77f5f8b98aca723f1343d42/affordance/affordance_annot.json

@@ -0,0 +1,339 @@
+{
+    "affordances": [
+        {
+            "part_name": "pliers jaw assembly",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly grasp the closed metal jaws to reposition the pliers when the insulated handles are obstructed",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "hold the jaw section to stabilize the tool during inspection or placement into a fixture",
+                    "confidence": 0.27
+                }
+            ],
+            "functional_labels": [
+                "grip small items at the tip",
+                "bend or pull wire",
+                "provide the working end"
+            ],
+            "semantic_description": "Short to medium-length silver-gray metal jaws with a smooth reflective finish, forming the front working end with tapered shape and serrated inner gripping faces.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_12": {
+                    "confidence": 0.9795642495155334,
+                    "position": [
+                        0.08302788124638028,
+                        0.07955005369149148,
+                        0.001380191279167775
+                    ],
+                    "orientation": {
+                        "w": 0.1823692417338406,
+                        "xyz": [
+                            0.6797930843496154,
+                            0.1921756430513959,
+                            -0.6838796270964965
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9775735139846802,
+                    "position": [
+                        -0.09963258667630726,
+                        0.04539505369029939,
+                        4.6261811803560704e-05
+                    ],
+                    "orientation": {
+                        "w": 0.7000264190492695,
+                        "xyz": [
+                            0.046972516767395896,
+                            0.7109703378975634,
+                            -0.04772602991468517
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.974351167678833,
+                    "position": [
+                        -0.08514314456624561,
+                        0.0866896843072027,
+                        0.0009684873293736018
+                    ],
+                    "orientation": {
+                        "w": 0.6730771639159682,
+                        "xyz": [
+                            0.19472745985587264,
+                            0.6886753632059524,
+                            -0.18647946778684912
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle grip",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp this insulated handle to lift the pliers from a surface",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold this handle while another gripper manipulates the opposite handle to open or close the tool",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the handle to stabilize and orient the pliers during manipulation",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide main grip surface",
+                "insulate the handle",
+                "stabilize tool handling",
+                "transmit squeezing force to the jaws"
+            ],
+            "semantic_description": "Long curved insulated handle with a yellow inner section and red outer grip, matte and slightly textured, forming one of the two rear arms and ending in a rounded tip.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.9412072896957397,
+                    "position": [
+                        -0.013340049747057492,
+                        -0.12329714396037161,
+                        -0.0007183681809692644
+                    ],
+                    "orientation": {
+                        "w": 0.5038669977993744,
+                        "xyz": [
+                            -0.48326198082135424,
+                            0.5189711851409854,
+                            0.49319855577102767
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.3355298936367035,
+                    "position": [
+                        -0.0629752831046062,
+                        -0.08864874788559973,
+                        -0.001471140443754848
+                    ],
+                    "orientation": {
+                        "w": 0.338320444132704,
+                        "xyz": [
+                            -0.6235030860258838,
+                            -0.3236992805454494,
+                            -0.626100594611127
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9759038686752319,
+                    "position": [
+                        -0.09216458662194782,
+                        0.05174803710542619,
+                        -0.0011242079999647103
+                    ],
+                    "orientation": {
+                        "w": 0.1952930762682179,
+                        "xyz": [
+                            0.6660425744193333,
+                            -0.18183801777391662,
+                            0.696550672036583
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle grip",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp this insulated handle to pick up the pliers from a surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold this handle while another gripper manipulates the opposite handle to actuate the jaws",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "grasp the handle to orient the tool for gripping or storage",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide main grip surface",
+                "insulate the handle",
+                "stabilize tool handling",
+                "transmit squeezing force to the jaws"
+            ],
+            "semantic_description": "Long curved insulated handle with a yellow inner section and red outer grip, matte and slightly textured, positioned opposite the other handle with a rounded end and ergonomic contour.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_41": {
+                    "confidence": 0.9025396704673767,
+                    "position": [
+                        0.06072458685594029,
+                        0.07380590192042291,
+                        0.0368674780256697
+                    ],
+                    "orientation": {
+                        "w": 0.2991570480931857,
+                        "xyz": [
+                            0.7539543472119774,
+                            0.32316530517284625,
+                            -0.48746496123195704
+                        ]
+                    }
+                },
+                "grasp_44": {
+                    "confidence": 0.8794415593147278,
+                    "position": [
+                        0.02339100153403706,
+                        -0.12434317567385733,
+                        0.0012170611662440933
+                    ],
+                    "orientation": {
+                        "w": 0.4818002424539423,
+                        "xyz": [
+                            -0.5416992774154836,
+                            0.4446794372554388,
+                            0.5260138945893464
+                        ]
+                    }
+                },
+                "grasp_48": {
+                    "confidence": 0.8621708154678345,
+                    "position": [
+                        0.06755724237518734,
+                        -0.0963615367654711,
+                        -0.0018901905496022664
+                    ],
+                    "orientation": {
+                        "w": 0.3344155779424289,
+                        "xyz": [
+                            -0.636609443579825,
+                            0.31355278023725364,
+                            0.6201445731278357
+                        ]
+                    }
+                },
+                "grasp_51": {
+                    "confidence": 0.8455659747123718,
+                    "position": [
+                        0.010915847171418136,
+                        -0.12725885608233511,
+                        -0.0008994186864583753
+                    ],
+                    "orientation": {
+                        "w": 0.5094590102766828,
+                        "xyz": [
+                            -0.5000959738276813,
+                            0.4943614929332335,
+                            0.4959458116710638
+                        ]
+                    }
+                },
+                "grasp_53": {
+                    "confidence": 0.8365350365638733,
+                    "position": [
+                        0.010436754349939292,
+                        -0.13608104386366904,
+                        0.00039405108691425994
+                    ],
+                    "orientation": {
+                        "w": 0.49818492821258886,
+                        "xyz": [
+                            -0.49983158506719116,
+                            0.4957571516360241,
+                            0.5061669788447019
+                        ]
+                    }
+                },
+                "grasp_59": {
+                    "confidence": 0.811882734298706,
+                    "position": [
+                        0.017737126585416263,
+                        -0.12100480147637427,
+                        -0.002541117042710539
+                    ],
+                    "orientation": {
+                        "w": 0.5014946916286316,
+                        "xyz": [
+                            -0.5077362568042717,
+                            0.48050973255282703,
+                            0.5097228312688191
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot joint",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect jaws and handles",
+                "enable rotational opening and closing",
+                "align the tool halves",
+                "transfer force between handles and jaws"
+            ],
+            "semantic_description": "Circular silver metal hinge at the center with a smooth hard finish, slightly raised where the two tool halves rotate around the main pivot.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "return spring",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reopen the handles",
+                "provide spring tension",
+                "assist repeated gripping motions",
+                "separate handles after squeezing"
+            ],
+            "semantic_description": "Small dark metal spring near the inner handle bases, compact and partially recessed, bridging the handles near the pivot.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot fastener center",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark the pivot center",
+                "form the visible center of the joint hardware"
+            ],
+            "semantic_description": "Tiny pale circular center feature on the pivot, smooth and flush within the larger silver hinge area.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle guards",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "limit hand slip toward the jaws",
+                "protect fingers near the pivot",
+                "improve grip indexing"
+            ],
+            "semantic_description": "Small red rubber-like flanges near the base of each handle, matte and slightly textured, protruding beside the pivot to form finger stops between the grips and jaws.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/b8d32bbff77f5f8b98aca723f1343d42/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3792660