Add asset kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02

.gitattributes

@@ -7038,3 +7038,4 @@ dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/affordan
 dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/b546b1f2ecb95e1290213bcc99af9a39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/b5d37efe1eca5fc695846d4c11fdfc1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02/affordance/affordance_annot.json

@@ -0,0 +1,305 @@
+{
+    "affordances": [
+        {
+            "part_name": "blade of knife",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut material",
+                "slice",
+                "pierce",
+                "provide sharp working edge"
+            ],
+            "semantic_description": "Short silver metal blade with a reflective smooth hard surface, broad curved drop-point-like shape, and a sharp exposed edge projecting from the front of the folding knife.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle scale",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and hold the knife safely away from the blade",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the knife during cutting or positioning",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle to reorient or manipulate the folding knife",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "insulate hand from blade",
+                "support controlled manipulation",
+                "house folding mechanism"
+            ],
+            "semantic_description": "Medium brown wooden handle scale with a semi-gloss smooth hard finish, gently curved elongated form, visible wood grain, and it covers most of the knife body behind the blade.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.9773966073989868,
+                    "position": [
+                        -0.010069337673485279,
+                        -0.12115164753049612,
+                        2.9738323064520955e-05
+                    ],
+                    "orientation": {
+                        "w": 0.4919131891273555,
+                        "xyz": [
+                            -0.51569368940785,
+                            -0.48300217758121555,
+                            -0.5087143889446004
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9772501587867737,
+                    "position": [
+                        -0.003239979036152363,
+                        -0.11987994518131018,
+                        0.004628332186257467
+                    ],
+                    "orientation": {
+                        "w": 0.5022915862769846,
+                        "xyz": [
+                            -0.4926107818689542,
+                            0.5217031276545298,
+                            0.48255945388862637
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9769630432128906,
+                    "position": [
+                        -0.00989613775163889,
+                        -0.11999147292226553,
+                        0.00485581936663948
+                    ],
+                    "orientation": {
+                        "w": 0.5061323402919597,
+                        "xyz": [
+                            -0.4909138715618787,
+                            0.5221762187185991,
+                            0.4797557935277657
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9767438173294067,
+                    "position": [
+                        -0.011048362590372562,
+                        -0.11795101221650839,
+                        -0.010653647274011746
+                    ],
+                    "orientation": {
+                        "w": 0.533224481798757,
+                        "xyz": [
+                            -0.4755127928266106,
+                            0.46740006700333825,
+                            0.5206691975083214
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9761573076248169,
+                    "position": [
+                        -0.02343121077865362,
+                        -0.11529786791652441,
+                        -1.5481142327189445e-05
+                    ],
+                    "orientation": {
+                        "w": 0.5197731481384801,
+                        "xyz": [
+                            -0.4766828627439077,
+                            0.5170445419027765,
+                            0.48505078551532577
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9756583571434021,
+                    "position": [
+                        -0.0443820720538497,
+                        -0.11383855249732733,
+                        -0.0009335957292933017
+                    ],
+                    "orientation": {
+                        "w": 0.5724015724706013,
+                        "xyz": [
+                            -0.4086908362771828,
+                            0.5696747534804565,
+                            0.4252045571524621
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9753394722938538,
+                    "position": [
+                        0.0009509501978754997,
+                        -0.11996483709663153,
+                        0.0007659528346266598
+                    ],
+                    "orientation": {
+                        "w": 0.5073479606561484,
+                        "xyz": [
+                            -0.5027980879007923,
+                            -0.5088184456700892,
+                            -0.4805163045800099
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9747402667999268,
+                    "position": [
+                        0.002230917103588581,
+                        -0.1240196144208312,
+                        0.0008062509295996279
+                    ],
+                    "orientation": {
+                        "w": 0.4989261068121635,
+                        "xyz": [
+                            -0.5117354366342567,
+                            -0.49347020088539684,
+                            -0.49566797725103284
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9745067954063416,
+                    "position": [
+                        -0.012731139548122883,
+                        -0.11981708463281393,
+                        -0.011740225978428498
+                    ],
+                    "orientation": {
+                        "w": 0.5550992384947555,
+                        "xyz": [
+                            -0.43846466609683754,
+                            0.49275531717768484,
+                            0.5067600708424558
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9743631482124329,
+                    "position": [
+                        -0.0007820464670658112,
+                        -0.11796315666288137,
+                        -0.0035792204143945128
+                    ],
+                    "orientation": {
+                        "w": 0.48528199163576397,
+                        "xyz": [
+                            -0.5314924560421695,
+                            0.4498844715316148,
+                            0.5287921331099856
+                        ]
+                    }
+                },
+                "grasp_20": {
+                    "confidence": 0.9743049740791321,
+                    "position": [
+                        -0.029648269526660442,
+                        -0.11369098629802465,
+                        0.018482340819900855
+                    ],
+                    "orientation": {
+                        "w": 0.4328666181209453,
+                        "xyz": [
+                            -0.5884317053620762,
+                            -0.49457448777370283,
+                            -0.47092536041775696
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9733971357345581,
+                    "position": [
+                        -0.013857041485607624,
+                        -0.1162543511018157,
+                        0.004620546795194969
+                    ],
+                    "orientation": {
+                        "w": 0.5113629703814827,
+                        "xyz": [
+                            -0.4932904831718183,
+                            0.5190446833568666,
+                            0.47514737546756025
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "small handle pin",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten handle parts",
+                "support assembly",
+                "reinforce structure"
+            ],
+            "semantic_description": "Small round silver metal pin with a smooth hard reflective surface, flush-mounted in the wooden handle near the center area.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "exposed liner or backspring",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce handle structure",
+                "support folding mechanism",
+                "form exposed metal edge of the handle"
+            ],
+            "semantic_description": "Thin silver metal strip with a smooth reflective hard finish running along the back edge of the handle, visible as a narrow structural layer beside the wood scale.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "finger ring opening tab",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch the ring tab to help open or reposition the blade",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "assist blade opening",
+                "provide finger purchase",
+                "act as a small pull point"
+            ],
+            "semantic_description": "Small silver metal ring-like tab protruding near the pivot area, with a smooth hard finish and an open loop shape used as an opening aid.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle rivet",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten handle parts",
+                "support assembly",
+                "reinforce structure"
+            ],
+            "semantic_description": "Larger circular silver metal fastener with a smooth hard reflective surface, flush-mounted near the end of the wooden handle.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:495fc353a41949ddaf27815cdf278e0b6c6fc9834132d1e5a4e96029f0e2645f
+size 850852

dataset/kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02/bac9d3b974b05362808b10c64ea54f02.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>