Add asset kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33

.gitattributes

@@ -7028,3 +7028,4 @@ dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/affordan
 dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/9eaa9260bd2b5ed19159274b5dcb4dfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/affordance/affordance_annot.json

@@ -0,0 +1,285 @@
+{
+    "affordances": [
+        {
+            "part_name": "blade of knife",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut fruit",
+                "slice soft food",
+                "pierce food",
+                "provide cutting edge"
+            ],
+            "semantic_description": "Slim silver metal blade with a reflective smooth finish and sharp pointed shape, extending from the pivot as the main cutting part of the knife.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle scale",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle scale area to pick up the folded knife safely",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the handle scale to stabilize and orient the knife during manipulation",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the handle scale while opening or closing the folding knife",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide main grip surface",
+                "insulate hand from blade",
+                "support safe handling",
+                "improve grip comfort"
+            ],
+            "semantic_description": "Elongated light silver handle side panel, likely metal, with a mostly matte hard surface, smooth contoured edges, and a textured inset for added grip near the knife body.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.7006881237030029,
+                    "position": [
+                        0.0003543334169080481,
+                        -0.11511720763519406,
+                        0.0007371712563326582
+                    ],
+                    "orientation": {
+                        "w": 0.7162304219164336,
+                        "xyz": [
+                            -0.6978188758208201,
+                            0.004682065094676613,
+                            -0.0063935542559080995
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.6045117974281311,
+                    "position": [
+                        -0.0036692681605927646,
+                        -0.12340462999418378,
+                        0.0044318698783172294
+                    ],
+                    "orientation": {
+                        "w": 0.6970528038433087,
+                        "xyz": [
+                            -0.7152058890735423,
+                            -0.008124649884841406,
+                            -0.05031813741539441
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.6995646357536316,
+                    "position": [
+                        4.7456705942749977e-07,
+                        -0.11660627322271466,
+                        -0.00104682550590951
+                    ],
+                    "orientation": {
+                        "w": 0.07742869290184996,
+                        "xyz": [
+                            -0.0825595212079992,
+                            -0.6892986702062159,
+                            -0.7155809291934482
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "opposite handle scale",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the opposite handle side to pick up the knife",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "clamp across both handle sides for a secure hold",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold this side while repositioning the folding knife",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "form handle body",
+                "provide opposing grip surface",
+                "support secure clamping",
+                "protect folded blade"
+            ],
+            "semantic_description": "Matching light silver handle side on the opposite face, likely metal, with a hard smooth contoured profile and compact elongated shape forming the underside of the grip.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.7618404030799866,
+                    "position": [
+                        -0.007012149959336966,
+                        -0.1129658748395741,
+                        -0.006828200028394349
+                    ],
+                    "orientation": {
+                        "w": 0.7196910084068351,
+                        "xyz": [
+                            -0.6939367521038444,
+                            0.01064942673328595,
+                            -0.019576164286539535
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.7035458087921143,
+                    "position": [
+                        -0.004359027079772204,
+                        -0.12209656136110425,
+                        -0.004496456080232747
+                    ],
+                    "orientation": {
+                        "w": 0.030225634853099377,
+                        "xyz": [
+                            0.014782443343783496,
+                            0.6997716596455014,
+                            0.7135737626366987
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.7000910043716431,
+                    "position": [
+                        -0.0036337111960165203,
+                        -0.11505828844383359,
+                        -0.003872192886774428
+                    ],
+                    "orientation": {
+                        "w": 0.7112986275802914,
+                        "xyz": [
+                            -0.7010332534674757,
+                            -0.011811478725920255,
+                            -0.04967020138379804
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.5022836923599243,
+                    "position": [
+                        0.0026260081795044243,
+                        -0.11526712821796536,
+                        -0.0051143085147487
+                    ],
+                    "orientation": {
+                        "w": 0.06925846369439365,
+                        "xyz": [
+                            -0.021483115598835485,
+                            0.6964494872854552,
+                            0.7139326667205299
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.6807072162628174,
+                    "position": [
+                        -0.0032210663775913417,
+                        -0.12451087730005383,
+                        -0.0033636816806392744
+                    ],
+                    "orientation": {
+                        "w": 0.042927970555389286,
+                        "xyz": [
+                            -0.0046351620142345215,
+                            0.6991736714503509,
+                            0.7136468887115912
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.6883482933044434,
+                    "position": [
+                        0.002071893832180649,
+                        -0.11614345805719495,
+                        0.026436067229951732
+                    ],
+                    "orientation": {
+                        "w": 0.5907152469745272,
+                        "xyz": [
+                            -0.8068215624083007,
+                            -0.00970931843826528,
+                            -0.00043881695051555225
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9207272529602051,
+                    "position": [
+                        0.06279503722907975,
+                        -0.08345015393570065,
+                        0.03320809551223647
+                    ],
+                    "orientation": {
+                        "w": 0.2932671316456065,
+                        "xyz": [
+                            -0.7957897954105615,
+                            0.20848439807548513,
+                            0.48708032887387037
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot button",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enable blade rotation",
+                "act as thumb press point",
+                "connect blade to handle",
+                "indicate hinge location"
+            ],
+            "semantic_description": "Small round silver pivot button at the junction of blade and handle, with a smooth metallic finish and slightly raised disk shape marking the folding hinge.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "thumb stud",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "assist one-handed opening",
+                "provide thumb purchase",
+                "help start blade rotation",
+                "indicate opening control"
+            ],
+            "semantic_description": "Tiny round metal stud near the blade base, silver and smooth with a hard reflective finish, protruding slightly as an opening aid.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small handle screw",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten handle hardware",
+                "retain handle components",
+                "support structural assembly"
+            ],
+            "semantic_description": "Very small dark metal screw near the handle end, with a hard smooth finish and flush circular head securing the knife handle hardware.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:424f0e15508ac57130cb5ddc42adeb20b96b5ca8becd7a64018e5aa70af6b6de
+size 3784140