Add asset kitchen_supplies/cutting_tools/41666f545b8c5f9dadca19be7494d2b6

.gitattributes

@@ -6990,3 +6990,4 @@ dataset/furniture/table/fa7b59f30c8b527eb0a9a03f051f6652/affordance/mesh_part_se
 dataset/furniture/table/fbff69cb273251e5b86bf1961be063c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/060566ebdbf5580aaea6fdebce40c2aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/0dab90111dd958ae9ef67f9fadfb94fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/41666f545b8c5f9dadca19be7494d2b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/41666f545b8c5f9dadca19be7494d2b6/41666f545b8c5f9dadca19be7494d2b6.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>

dataset/kitchen_supplies/cutting_tools/41666f545b8c5f9dadca19be7494d2b6/affordance/affordance_annot.json

@@ -0,0 +1,96 @@
+{
+    "affordances": [
+        {
+            "part_name": "entire knife",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the wooden handle area to pick up and manipulate the knife safely",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to stabilize or reposition the knife during placement or handoff",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the whole object carefully for coarse repositioning when exact handle access is limited",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "serve as the complete cutting tool",
+                "combine blade, handle, and guard into one manipulable object",
+                "enable cutting and general handheld use"
+            ],
+            "semantic_description": "A small fixed-blade knife with a satin silver metal blade, a short silver crossguard, and a dark reddish-brown polished wooden handle with visible metal rivets and a curved ergonomic profile.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.9856677055358887,
+                    "position": [
+                        0.10785235278308392,
+                        -0.09504209738224745,
+                        -0.00629948073765263
+                    ],
+                    "orientation": {
+                        "w": 0.7178693267062616,
+                        "xyz": [
+                            -0.029560160290901236,
+                            -0.6932732589642343,
+                            -0.05623179797040248
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9853111505508423,
+                    "position": [
+                        -0.09387400187551975,
+                        0.12053795624524355,
+                        0.001389909244608134
+                    ],
+                    "orientation": {
+                        "w": 0.6957499500192168,
+                        "xyz": [
+                            0.022948641880253192,
+                            0.716636089490811,
+                            -0.04287285998656995
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "crossguard pin",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "act as a small crossguard-like protrusion",
+                "help prevent the hand from sliding onto the blade",
+                "provide a minor indexing feature near the blade-handle junction"
+            ],
+            "semantic_description": "A small short silver-gray metal pin protruding laterally near the blade-handle junction, with a smooth metallic finish and cylindrical shape.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle rivets",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten the handle scales to the tang",
+                "reinforce the handle assembly",
+                "join structural parts of the handle"
+            ],
+            "semantic_description": "Small round metal rivets set into the dark reddish-brown wooden handle, brass- or steel-colored, smooth and reflective, flush-mounted along the handle surface.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue mask marks only one visible rivet per view, not multiple handle rivets; part name and description mismatch segmentation."
+    }
+}

dataset/kitchen_supplies/cutting_tools/41666f545b8c5f9dadca19be7494d2b6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90550fa080ef7ed5a29bcb615b62cae03d52019b84615687088f8c0a88336d6e
+size 500352