Add asset kitchen_supplies/cutting_tools/84a108c5f2ae5bacb970be066e49d0d1

.gitattributes

@@ -7015,3 +7015,4 @@ dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/affordan
 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/84a108c5f2ae5bacb970be066e49d0d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/84a108c5f2ae5bacb970be066e49d0d1/affordance/affordance_annot.json

@@ -0,0 +1,255 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle and frame body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and reposition the peeler",
+                    "confidence": 0.99
+                },
+                {
+                    "scenario": "hold the handle while peeling produce with the blade contacting the surface",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp the handle to place or remove the peeler from storage",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grip",
+                "support hand force during peeling",
+                "connect head to user grip",
+                "orient the tool"
+            ],
+            "semantic_description": "Long white plastic handle and integrated frame with a smooth matte finish, slightly tapered and gently curved, forming the largest part and ending in an oval hanging hole.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9750858545303345,
+                    "position": [
+                        -0.006786758545786142,
+                        0.09131695613177726,
+                        0.0025566584372427315
+                    ],
+                    "orientation": {
+                        "w": 0.4225790519236782,
+                        "xyz": [
+                            0.5664643065798138,
+                            -0.4208391033868196,
+                            0.5687174898901156
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9663959741592407,
+                    "position": [
+                        0.021988599095493555,
+                        0.09811796530993888,
+                        0.0003851000947179273
+                    ],
+                    "orientation": {
+                        "w": 0.49547102677836635,
+                        "xyz": [
+                            0.5112413206004696,
+                            0.49403078703013814,
+                            -0.49907349679206703
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9656725525856018,
+                    "position": [
+                        0.012559834402054548,
+                        -0.096000765413919,
+                        -0.023942786414409056
+                    ],
+                    "orientation": {
+                        "w": 0.4629977561616745,
+                        "xyz": [
+                            -0.4227630306293517,
+                            -0.46347118555797573,
+                            -0.6261780560510125
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.952286422252655,
+                    "position": [
+                        -0.14977055927738547,
+                        0.009151919781288598,
+                        -0.0012681741791311651
+                    ],
+                    "orientation": {
+                        "w": 0.7080777405682807,
+                        "xyz": [
+                            0.021941508294042417,
+                            0.7055320590378438,
+                            -0.019209299709296957
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.943845808506012,
+                    "position": [
+                        -0.12785916170105338,
+                        0.05362776577385375,
+                        7.527385605499148e-05
+                    ],
+                    "orientation": {
+                        "w": 0.6770572533277204,
+                        "xyz": [
+                            0.1834839711035145,
+                            0.6791318079886611,
+                            -0.2161182441221951
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.940763533115387,
+                    "position": [
+                        -0.14813979109749198,
+                        -0.0008813471868052147,
+                        -0.00010737378033809364
+                    ],
+                    "orientation": {
+                        "w": 0.7043656745493172,
+                        "xyz": [
+                            0.01043748003705961,
+                            0.709591944107285,
+                            -0.015470241924569807
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.933414876461029,
+                    "position": [
+                        -0.12391312560066581,
+                        0.05470220655115554,
+                        -0.0024767333234194666
+                    ],
+                    "orientation": {
+                        "w": 0.6765255121846655,
+                        "xyz": [
+                            0.18048139146246236,
+                            0.6788748453757422,
+                            -0.22106253191147668
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9331486821174622,
+                    "position": [
+                        -0.14515473088249564,
+                        0.011499677821120713,
+                        -0.0025878317246679217
+                    ],
+                    "orientation": {
+                        "w": 0.7051809108354437,
+                        "xyz": [
+                            0.04536241125117628,
+                            0.7075747908890021,
+                            0.0002234662328660521
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "peeling blade",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "peel skin",
+                "cut thin surface layers",
+                "perform scraping cut",
+                "main working edge"
+            ],
+            "semantic_description": "Short straight metallic blade across the peeler head, silver-gray and reflective, positioned horizontally between the two side supports.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "axle bar",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support blade assembly",
+                "connect the two side pivots",
+                "maintain blade alignment",
+                "provide rotational support"
+            ],
+            "semantic_description": "Thin cylindrical metal rod spanning the top of the head opening, silver and reflective, running between the two side pivot areas above the blade.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left blade-side support",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support blade end",
+                "connect blade area to frame",
+                "stabilize cutting head",
+                "define side of peeling opening"
+            ],
+            "semantic_description": "Small white plastic side support on one end of the head, smooth and matte, forming part of the Y-shaped frame beside the blade.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right blade-side support",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support blade end",
+                "connect blade area to frame",
+                "stabilize cutting head",
+                "define side of peeling opening"
+            ],
+            "semantic_description": "Small white plastic side support on the opposite end of the head, smooth and matte, forming part of the Y-shaped frame beside the blade.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left pivot end",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain axle end",
+                "form side pivot point",
+                "help secure blade assembly",
+                "act as a side stop"
+            ],
+            "semantic_description": "Tiny silver-gray metal pivot end protruding from one side of the head, smooth and reflective with a short rounded cylindrical form.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right pivot end",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain axle end",
+                "form side pivot point",
+                "help secure blade assembly",
+                "act as a side stop"
+            ],
+            "semantic_description": "Tiny silver-gray metal pivot end protruding from the opposite side of the head, smooth and reflective with a short rounded cylindrical form.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Main body color/material description mismatches images; handle/frame is light gray metal, not white plastic."
+    }
+}

dataset/kitchen_supplies/cutting_tools/84a108c5f2ae5bacb970be066e49d0d1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba730f3ae71aef82b42f87365f46da2950f724ee996946bf2de50476b7dbcf7f
+size 3785932