Add asset kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62

.gitattributes

@@ -7016,4 +7016,5 @@ dataset/kitchen_supplies/cutting_tools/76d0aa48cb2a5a37b4b707cf6c462760/affordan
 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/7e35bc198bdb5d33bd4c06a13f4f0591/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/affordance/affordance_annot.json

@@ -0,0 +1,130 @@
+{
+    "affordances": [
+        {
+            "part_name": "blade of knife",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut fruit",
+                "slice soft food",
+                "pierce food skin",
+                "provide the sharp working edge"
+            ],
+            "semantic_description": "Small silver metal blade with a reflective smooth finish, hard surface, elongated pointed shape, and an oblong cutout near the base extending from the handle pivot.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and use the fruit knife safely",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to stabilize and orient the knife for cutting",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the handle to carry or store the folded knife",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "provide a safe grip",
+                "support controlled cutting",
+                "house the blade pivot",
+                "protect hand from the blade"
+            ],
+            "semantic_description": "Curved silver metal handle with a matte to satin finish, hard smooth surface, slim elongated shape, and a small round hole at the butt end opposite the blade.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.7566069960594177,
+                    "position": [
+                        0.041726091265445575,
+                        0.09609044156968594,
+                        -0.0022049195018780665
+                    ],
+                    "orientation": {
+                        "w": 0.36690990033830634,
+                        "xyz": [
+                            0.5904468887632528,
+                            0.38111570425499963,
+                            -0.6095083400198438
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.751388669013977,
+                    "position": [
+                        0.04234894490218721,
+                        0.0983732920140028,
+                        0.000910106370952235
+                    ],
+                    "orientation": {
+                        "w": 0.3642274752794554,
+                        "xyz": [
+                            0.5901291955899239,
+                            0.3841028397046302,
+                            -0.6095497414442743
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.7458176612854004,
+                    "position": [
+                        0.043070656567579135,
+                        0.09561839513480663,
+                        0.02144864710260208
+                    ],
+                    "orientation": {
+                        "w": 0.5284237069471125,
+                        "xyz": [
+                            0.3636174489339168,
+                            -0.6759506218287223,
+                            0.3628243288651214
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.7433881759643555,
+                    "position": [
+                        0.04405517628765665,
+                        0.09276923350989819,
+                        0.01025116766084011
+                    ],
+                    "orientation": {
+                        "w": 0.571972961135512,
+                        "xyz": [
+                            0.35827736594025145,
+                            -0.6406051812235763,
+                            0.3662093152478493
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect blade to handle",
+                "enable blade rotation",
+                "act as folding joint"
+            ],
+            "semantic_description": "Tiny circular silver metal pivot fastener with a smooth finish, hard surface, and flat round form located at the junction between blade and handle.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bd3a1eaa60dc344e544cb8a65296fcb8b91cc2a23a7f77438812ae667f8a3a0
+size 3783068

dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/fruit_knife_005.urdf

@@ -54,6 +54,7 @@
                <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>