Add asset kitchen_supplies/cutting_tools/b0cedf58647253e291603baa89840232

.gitattributes

@@ -7032,4 +7032,4 @@ dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/affordan
 dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ac41faffb401535dbf8985828c110688/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/b0cedf58647253e291603baa89840232/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/b0cedf58647253e291603baa89840232/affordance/affordance_annot.json

@@ -0,0 +1,241 @@
+{
+    "affordances": [
+        {
+            "part_name": "knife blade",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut food or material",
+                "slice with the sharpened edge",
+                "pierce with the tip",
+                "provide the main working edge"
+            ],
+            "semantic_description": "Long tapered silver metal blade with a smooth reflective surface, thin profile, and pointed tip projecting from the front of the knife.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and carry the knife safely",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to control cutting motions",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp the handle to reorient the knife on a work surface",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a safe grip",
+                "control blade orientation",
+                "support cutting force transfer",
+                "stabilize the knife during use"
+            ],
+            "semantic_description": "Elongated dark reddish-brown wooden handle with a smooth semi-gloss hard surface, slight contouring, medium thickness, and visible metal rivets along the sides.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9942100048065186,
+                    "position": [
+                        0.10031391959637403,
+                        0.09694736450910568,
+                        0.002356177195906639
+                    ],
+                    "orientation": {
+                        "w": 0.010073684206971226,
+                        "xyz": [
+                            -0.70071303068276,
+                            0.0161691651716398,
+                            0.7131888442870742
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9935904741287231,
+                    "position": [
+                        0.09893119614571333,
+                        0.10823354870080948,
+                        0.005240950966253877
+                    ],
+                    "orientation": {
+                        "w": 0.01095769323974258,
+                        "xyz": [
+                            0.7113144163550296,
+                            0.004867612077332439,
+                            -0.7027716815559886
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9932293891906738,
+                    "position": [
+                        0.09959443937987089,
+                        0.08539894968271255,
+                        -2.3532775230705738e-05
+                    ],
+                    "orientation": {
+                        "w": 0.00250311029194631,
+                        "xyz": [
+                            0.6966492648063459,
+                            0.00542234005888087,
+                            -0.7173870186391236
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.992964506149292,
+                    "position": [
+                        0.09799755644053221,
+                        0.09655166417360306,
+                        0.0041028778068721294
+                    ],
+                    "orientation": {
+                        "w": 0.01647930016010509,
+                        "xyz": [
+                            -0.7056109385577778,
+                            0.018734035411492322,
+                            0.7081600609827172
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9924218058586121,
+                    "position": [
+                        0.09754032175987959,
+                        0.08728422224521637,
+                        0.003196352394297719
+                    ],
+                    "orientation": {
+                        "w": 0.029901053657047715,
+                        "xyz": [
+                            -0.7041510973971695,
+                            0.029762402087931794,
+                            0.7087957099521107
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9912904500961304,
+                    "position": [
+                        0.0898452652618289,
+                        0.10012025386095047,
+                        -0.03367705759592354
+                    ],
+                    "orientation": {
+                        "w": 0.0447790586492056,
+                        "xyz": [
+                            -0.569826558803645,
+                            0.043074171590681054,
+                            0.8194126826759905
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9908028841018677,
+                    "position": [
+                        0.0964092193171382,
+                        0.09118743240833282,
+                        0.0002592478267615661
+                    ],
+                    "orientation": {
+                        "w": 0.009234491938382258,
+                        "xyz": [
+                            0.6929845439492316,
+                            0.00032177118632326085,
+                            -0.7208932254289945
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9899208545684814,
+                    "position": [
+                        0.09952260833233595,
+                        0.11860175430774689,
+                        -0.002133677015081048
+                    ],
+                    "orientation": {
+                        "w": 0.06868571902746909,
+                        "xyz": [
+                            0.6861270297305601,
+                            0.045101397647456465,
+                            -0.7228262827298444
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9887413382530212,
+                    "position": [
+                        -0.1076003136113286,
+                        0.11422130465507507,
+                        0.00979544292204082
+                    ],
+                    "orientation": {
+                        "w": 0.050371492413070734,
+                        "xyz": [
+                            0.7326678263062537,
+                            -0.010637205513792991,
+                            0.6786364408920335
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9885751605033875,
+                    "position": [
+                        -0.10979310143738985,
+                        0.0658751055598259,
+                        0.001932681305333972
+                    ],
+                    "orientation": {
+                        "w": 0.6996154188850489,
+                        "xyz": [
+                            0.020591590446924418,
+                            0.7138809743300993,
+                            -0.022095396594595626
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle butt end",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the handle end",
+                "protect the handle end",
+                "provide an end stop",
+                "define the rear boundary of the grip"
+            ],
+            "semantic_description": "Small dark blue-masked rear end face of the handle, appearing as the rounded rectangular butt cap area at the back of the knife handle.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle rivets",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten handle scales",
+                "reinforce handle assembly",
+                "connect handle parts"
+            ],
+            "semantic_description": "Small circular metallic fasteners embedded in the handle, silver-toned and smooth, visible as tiny round dots on the wooden grip.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/b0cedf58647253e291603baa89840232/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2960851751b3012a60dde1d014515807c9b92fced39ace7fd6a7c9c48130429
+size 345072

dataset/kitchen_supplies/cutting_tools/b0cedf58647253e291603baa89840232/b0cedf58647253e291603baa89840232.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>