Add asset kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272

.gitattributes

@@ -7003,3 +7003,4 @@ dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/affordan
 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/5e0bba36eb3e5207904f47fc7d111272/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/affordance/affordance_annot.json

@@ -0,0 +1,98 @@
+{
+    "affordances": [
+        {
+            "part_name": "knife blade",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide the cutting edge",
+                "slice food",
+                "pierce food skin",
+                "separate material during cutting"
+            ],
+            "semantic_description": "Short silver metal blade with a smooth reflective finish, pointed tip, broad profile, and a gently curved cutting edge at the front of the knife.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and hold the knife for cutting",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp the handle to orient or place the knife safely",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the handle to stabilize the knife while passing it between stations",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "provide a safe grip",
+                "support manipulation",
+                "keep hand away from blade",
+                "house the decorative grip insert"
+            ],
+            "semantic_description": "Light gray or off-white plastic handle with a smooth hard finish, elongated rounded shape, an oval cutout containing black and turquoise accents, and a slightly contoured profile at the rear of the knife.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_13": {
+                    "confidence": 0.9903048276901245,
+                    "position": [
+                        0.0012263786047697067,
+                        -0.09849320363719016,
+                        -0.004180162570264656
+                    ],
+                    "orientation": {
+                        "w": 0.5135868966495123,
+                        "xyz": [
+                            -0.4942702038238979,
+                            -0.48396492954156767,
+                            -0.507644966660393
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9901871681213379,
+                    "position": [
+                        -0.0004767701029777527,
+                        0.09820856142323464,
+                        -0.0057697448719409294
+                    ],
+                    "orientation": {
+                        "w": 0.5100928987298351,
+                        "xyz": [
+                            0.48284527017229384,
+                            0.5070999059013045,
+                            -0.49951513007368104
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rivet or fastener",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join blade to handle",
+                "reinforce handle assembly",
+                "secure the handle near the blade junction"
+            ],
+            "semantic_description": "Small dark circular fastener near the blade-handle junction, appearing hard, smooth, and flush with the handle surface.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a31159c214f5aef71070a021fc403575869faafedd584e5b16d6f217a13dd31
+size 3784084

dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/fruit_knife_013.urdf

@@ -58,6 +58,7 @@
                <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>