Add asset kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7

.gitattributes

@@ -7048,4 +7048,4 @@ dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/affordan
 dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/cea111db9e0458ba967300e600c7eda5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/d1705221ae005fab9483cbcb7ef60bc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/affordance/affordance_annot.json

@@ -0,0 +1,118 @@
+{
+    "affordances": [
+        {
+            "part_name": "cutting board body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the board along an outer edge to pick it up from a table",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the board from the sides to reposition or rotate it",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the board by a narrower end to carry it between work areas",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "provide a cutting surface",
+                "support food preparation",
+                "serve as a chopping base",
+                "protect countertops",
+                "allow carrying by the edge"
+            ],
+            "semantic_description": "Single-piece irregular wooden board with warm amber to dark brown wood grain, a hard smooth polished surface, slightly rough live edges, medium thickness, and a broad flat top for cutting.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.974234938621521,
+                    "position": [
+                        -0.15984073979780078,
+                        -0.05892444147139031,
+                        -0.020950003410689533
+                    ],
+                    "orientation": {
+                        "w": 0.07600582644531727,
+                        "xyz": [
+                            -0.6328128973501609,
+                            -0.0688254138340263,
+                            -0.7674855136771207
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9716227650642395,
+                    "position": [
+                        -0.1573394606821239,
+                        0.03025891514153045,
+                        0.00168886489700526
+                    ],
+                    "orientation": {
+                        "w": 0.6906014194004368,
+                        "xyz": [
+                            0.12375964690210658,
+                            0.7032339249554477,
+                            -0.1149577144541602
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9703647494316101,
+                    "position": [
+                        -0.15729943616315722,
+                        -0.07911894215612847,
+                        0.005018939380533993
+                    ],
+                    "orientation": {
+                        "w": 0.034004407118092474,
+                        "xyz": [
+                            0.7205598978135119,
+                            0.003883795230660958,
+                            0.6925475074636646
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9703096151351929,
+                    "position": [
+                        -0.15955943567678332,
+                        -0.030633355736426893,
+                        -0.0075155970407649875
+                    ],
+                    "orientation": {
+                        "w": 0.7268952381475765,
+                        "xyz": [
+                            0.016879649005178028,
+                            0.6865020943169543,
+                            0.007298267347605757
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9700984358787537,
+                    "position": [
+                        -0.15806809766218066,
+                        -0.04389612866907555,
+                        -0.003405685187317431
+                    ],
+                    "orientation": {
+                        "w": 0.7105391320946459,
+                        "xyz": [
+                            -0.04278030864676947,
+                            0.6993484612088366,
+                            0.06492855118595099
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87f2edf66f4915649b23158fa73ac248a48f662bbe9320e0b26d240425c1f62c
+size 1515860