Add asset kitchen_supplies/cutting_tools/f4e408c4fa9c5798a3137735d4181e4d

.gitattributes

@@ -7063,4 +7063,4 @@ dataset/kitchen_supplies/cutting_tools/f1bb99024a5a565cb72d063643a70f36/affordan
 dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/fe000193da765413a951adb06441f987/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/016fd8ead1a7504ab435e2f5c31d3d6c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/f4e408c4fa9c5798a3137735d4181e4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/f4e408c4fa9c5798a3137735d4181e4d/affordance/affordance_annot.json

@@ -0,0 +1,165 @@
+{
+    "affordances": [
+        {
+            "part_name": "paring knife",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the orange handle to pick up and use the paring knife for cutting or peeling small foods",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle to reposition, pass, or place the knife into storage",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the knife carefully near the handle and blunt spine area to stabilize it during setup or cleanup",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "cut food",
+                "slice soft produce",
+                "peel small fruits or vegetables",
+                "provide a handle for manual manipulation"
+            ],
+            "semantic_description": "A small paring knife with a silver-gray metal blade and an orange molded plastic handle. It is compact and elongated with a pointed tip, smooth slightly reflective blade, and a curved ergonomic handle with a small hole or recess near the end.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9970898032188416,
+                    "position": [
+                        0.10220599548483733,
+                        0.07275303918868303,
+                        -0.00413354198099114
+                    ],
+                    "orientation": {
+                        "w": 0.02824022055070905,
+                        "xyz": [
+                            -0.6820209230580483,
+                            0.056585222486304154,
+                            0.7285932082105009
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9970853924751282,
+                    "position": [
+                        -0.09541967137192842,
+                        0.07090804446488619,
+                        0.004918542312225327
+                    ],
+                    "orientation": {
+                        "w": 0.09601710117751594,
+                        "xyz": [
+                            -0.7102240723635895,
+                            -0.060378435734133706,
+                            -0.6947783299837759
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.996399998664856,
+                    "position": [
+                        0.10295381025935058,
+                        0.06952315289527178,
+                        -0.005253503477433696
+                    ],
+                    "orientation": {
+                        "w": 0.027378072917819758,
+                        "xyz": [
+                            -0.6769417064223286,
+                            0.049569000455519374,
+                            0.7338550820313046
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.996227502822876,
+                    "position": [
+                        -0.09676836802100297,
+                        0.06410796660929918,
+                        -8.293277096527163e-05
+                    ],
+                    "orientation": {
+                        "w": 0.07860870385116764,
+                        "xyz": [
+                            -0.6929959643336697,
+                            -0.04252699663779169,
+                            -0.715380122489475
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.99617600440979,
+                    "position": [
+                        0.10015018658305053,
+                        0.09121580142527819,
+                        -0.00397056937799789
+                    ],
+                    "orientation": {
+                        "w": 0.7296848904492556,
+                        "xyz": [
+                            0.0344933087677413,
+                            -0.6827759171344361,
+                            -0.013682809709293576
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9961394667625427,
+                    "position": [
+                        -0.09789216144417878,
+                        0.07699636090546846,
+                        0.003723263129359111
+                    ],
+                    "orientation": {
+                        "w": 0.03876794260527085,
+                        "xyz": [
+                            -0.7047722066574815,
+                            0.0008846262026768192,
+                            -0.7083730661069636
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9960131645202637,
+                    "position": [
+                        0.09774667398596648,
+                        0.08761969674378633,
+                        -0.0021774649212602526
+                    ],
+                    "orientation": {
+                        "w": 0.7232896956354642,
+                        "xyz": [
+                            0.016298602591485717,
+                            -0.6903031047373769,
+                            -0.00824592815036232
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9959174990653992,
+                    "position": [
+                        0.09779826180601958,
+                        0.054269627667963505,
+                        -0.0029778544849250466
+                    ],
+                    "orientation": {
+                        "w": 0.08492962549467246,
+                        "xyz": [
+                            -0.6919808812515981,
+                            0.08787046699688483,
+                            0.7114971537015069
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Single green mask covers whole knife, not a specific graspable part; name, functions, and grasp scenarios are assigned to object not segmented part."
+    }
+}

dataset/kitchen_supplies/cutting_tools/f4e408c4fa9c5798a3137735d4181e4d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f426aa437ca41dfec2abadbcf790c4c4c5d74d30341a8b68224ac5f3635292
+size 106022928