Add asset kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990

.gitattributes

@@ -6997,3 +6997,4 @@ dataset/kitchen_supplies/cutting_tools/43cd0e7d919d576a9e990596be9f76fb/affordan
 dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/affordance/affordance_annot.json

@@ -0,0 +1,179 @@
+{
+    "affordances": [
+        {
+            "part_name": "blade of knife",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut fruit",
+                "slice soft produce",
+                "pierce food",
+                "provide sharp working edge"
+            ],
+            "semantic_description": "Long narrow silver metal blade with a reflective etched pattern, hard smooth surface, pointed tip, and tapered cutting edge at the front of the knife.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bolster of knife",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect blade to handle",
+                "strengthen the blade-handle joint",
+                "guard fingers from slipping forward",
+                "balance the knife"
+            ],
+            "semantic_description": "Small silver metal transition piece with a smooth slightly reflective finish located between the blade and the wooden handle near the knife center.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and use the fruit knife for cutting",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to reposition or pass the knife safely",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the knife while placing it into storage",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "enable controlled cutting",
+                "insulate hand from blade",
+                "support safe manipulation"
+            ],
+            "semantic_description": "Curved brown wooden handle with visible grain, a smooth polished hard surface, small metal rivets, and a compact ergonomic shape at the rear of the knife.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9367915987968445,
+                    "position": [
+                        -0.09177719336003065,
+                        -0.07691776510910131,
+                        -0.001220991332502308
+                    ],
+                    "orientation": {
+                        "w": 0.6345085933667739,
+                        "xyz": [
+                            -0.3273011581147112,
+                            0.6269597829238992,
+                            0.3117598874719189
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9341956377029419,
+                    "position": [
+                        0.026081022806465626,
+                        0.08586585763259791,
+                        -0.0014842206942375924
+                    ],
+                    "orientation": {
+                        "w": 0.3413059596892777,
+                        "xyz": [
+                            0.6062615448166012,
+                            0.35660169697622723,
+                            -0.62353220515932
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9267332553863525,
+                    "position": [
+                        -0.07374347280710936,
+                        0.08468650522991084,
+                        -0.006084231040858867
+                    ],
+                    "orientation": {
+                        "w": 0.36095922977464984,
+                        "xyz": [
+                            0.603778167154979,
+                            -0.3235622008761905,
+                            0.6328253009098331
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.8896828889846802,
+                    "position": [
+                        -0.07232791464775801,
+                        0.07949894908233546,
+                        0.036775749329990504
+                    ],
+                    "orientation": {
+                        "w": 0.514168129724514,
+                        "xyz": [
+                            0.44037524156444885,
+                            0.6890667499630077,
+                            -0.2586267485935422
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.875831663608551,
+                    "position": [
+                        -0.12124946992844343,
+                        -0.051544570742407814,
+                        0.00273816535673177
+                    ],
+                    "orientation": {
+                        "w": 0.6715944374738201,
+                        "xyz": [
+                            -0.19083097916639272,
+                            0.6937144129781012,
+                            0.17693151830883103
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.872999370098114,
+                    "position": [
+                        -0.12081752996891737,
+                        0.05406846720143221,
+                        -0.0022335889148052956
+                    ],
+                    "orientation": {
+                        "w": 0.2056046378259377,
+                        "xyz": [
+                            0.6727349058095153,
+                            -0.1804029607822032,
+                            0.6874658181691238
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8723059892654419,
+                    "position": [
+                        -0.12546609621495008,
+                        -0.04419679698185064,
+                        0.0008704850702088152
+                    ],
+                    "orientation": {
+                        "w": 0.6785379970760976,
+                        "xyz": [
+                            -0.1755346567057158,
+                            0.6945175590081533,
+                            0.16253962916323264
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac9cd2e1d2264db66e511348f8ed0276f7e624372f0f919ebf807f04fcbccb27
+size 3783508

dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/fruit_knife_004.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>