Add asset kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c

.gitattributes

@@ -7014,3 +7014,4 @@ dataset/kitchen_supplies/cutting_tools/748a226d3b575980833fce2aa084af22/affordan
 dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/76d0aa48cb2a5a37b4b707cf6c462760/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/7c22110adbfa55bfa6ce194ecb79b636/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/affordance/affordance_annot.json

@@ -0,0 +1,251 @@
+{
+    "affordances": [
+        {
+            "part_name": "knife blade",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut food",
+                "slice soft materials",
+                "pierce surfaces",
+                "provide the sharp working edge"
+            ],
+            "semantic_description": "Long narrow silver metal blade with a smooth reflective finish, pointed tip, and visible branding near the base close to the handle.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and control the knife for cutting",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to stabilize and reposition the knife on a surface",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the handle while opening or closing the folding knife carefully",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide a safe grip",
+                "support cutting control",
+                "house the folding blade",
+                "help protect the hand from the blade edge"
+            ],
+            "semantic_description": "Curved tan handle, likely wood or wood-like composite, with a matte smooth hard surface, ergonomic finger groove, small metal fasteners, and a medium-length body at the rear of the knife.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9808171987533569,
+                    "position": [
+                        -0.052003410179167986,
+                        0.08958552358672023,
+                        -0.012981663167010993
+                    ],
+                    "orientation": {
+                        "w": 0.6357816890254248,
+                        "xyz": [
+                            0.3234101002211404,
+                            0.5759288903408096,
+                            -0.39936632838251945
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9802573323249817,
+                    "position": [
+                        -0.008537677815183997,
+                        0.09702275274321437,
+                        0.021219915070105344
+                    ],
+                    "orientation": {
+                        "w": 0.4577016079270151,
+                        "xyz": [
+                            0.5671204620757361,
+                            0.540934938371429,
+                            -0.41984879664603814
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9795666337013245,
+                    "position": [
+                        0.03143076552078128,
+                        0.0919799986295402,
+                        0.0016479455516673625
+                    ],
+                    "orientation": {
+                        "w": 0.3845832286471993,
+                        "xyz": [
+                            0.6144101693670471,
+                            0.3728119621451017,
+                            -0.5793160837601279
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.969372570514679,
+                    "position": [
+                        0.06578981457278132,
+                        -0.07660451205447316,
+                        0.037029907398391515
+                    ],
+                    "orientation": {
+                        "w": 0.5313018753948415,
+                        "xyz": [
+                            -0.468310534333248,
+                            -0.6774348796933407,
+                            -0.19870969883048362
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9522240161895752,
+                    "position": [
+                        0.0037810555659234524,
+                        -0.08787909569218755,
+                        0.013098119117785245
+                    ],
+                    "orientation": {
+                        "w": 0.3560038932527265,
+                        "xyz": [
+                            -0.6108980538018778,
+                            -0.44032478947034837,
+                            -0.5533343253656623
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9443702697753906,
+                    "position": [
+                        0.040968909393996,
+                        0.09964368073269725,
+                        0.02097016788320616
+                    ],
+                    "orientation": {
+                        "w": 0.454721879211717,
+                        "xyz": [
+                            0.5594729401981879,
+                            0.542125069132178,
+                            -0.43164621065241693
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.935763955116272,
+                    "position": [
+                        0.08867387799546123,
+                        0.08591371355578303,
+                        -0.015978298790287226
+                    ],
+                    "orientation": {
+                        "w": 0.3827207896286352,
+                        "xyz": [
+                            0.5810170457524669,
+                            0.3229440425370784,
+                            -0.6416004481925802
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9060021042823792,
+                    "position": [
+                        0.06860974011942744,
+                        0.09666403708979487,
+                        0.016524369188118726
+                    ],
+                    "orientation": {
+                        "w": 0.5026420851537154,
+                        "xyz": [
+                            0.43050669166630173,
+                            -0.6381551051355856,
+                            0.39341197802335826
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lanyard cord",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch the cord to pull or retrieve the knife",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "hold the cord briefly to orient the knife before grasping the handle",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "provide a hanging loop",
+                "aid retrieval",
+                "add a retention point",
+                "mark the handle end"
+            ],
+            "semantic_description": "Thin brown cord loop at the handle end with a soft flexible braided texture and small dangling strands, much smaller than the handle and attached at the rear.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.7129973769187927,
+                    "position": [
+                        0.14162879018113017,
+                        0.04734116746112704,
+                        -0.01874155894620344
+                    ],
+                    "orientation": {
+                        "w": 0.682072187919652,
+                        "xyz": [
+                            -0.005348627428163933,
+                            -0.6451069541356238,
+                            0.3443630938079632
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.703572154045105,
+                    "position": [
+                        0.14573125867173076,
+                        0.04840316576883197,
+                        -0.025745715654920787
+                    ],
+                    "orientation": {
+                        "w": 0.34382094599276636,
+                        "xyz": [
+                            0.621155347718944,
+                            0.020902718878987092,
+                            -0.7039291636523264
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot hardware",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the blade pivot connection",
+                "support blade rotation during opening and closing",
+                "help secure the blade to the handle"
+            ],
+            "semantic_description": "Small round metallic hardware near the junction of blade and handle, with a smooth hard surface and compact size at the knife pivot area.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cb55b270510964214076708ff73f0f679e15d1f8caf5b36d50c3e8f16a3a4bf
+size 3781840

dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/fruit_knife_012.urdf

@@ -58,6 +58,7 @@
                <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>