Add asset kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1

.gitattributes

@@ -7024,3 +7024,4 @@ dataset/kitchen_supplies/cutting_tools/94c03725417052b3939b100980cd98ca/affordan
 dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/962e3c16974e5204a19e822e1494a3c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/99fad3b2419b50afb14eb340190194c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/affordance/affordance_annot.json

@@ -0,0 +1,209 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle and frame body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main handle to pick up and reposition the peeler",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle while peeling produce",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grip the frame/body to stabilize the tool during use or retrieval",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support the peeler structure",
+                "position the blade",
+                "transfer hand or gripper force",
+                "provide hanging hole area"
+            ],
+            "semantic_description": "Large Y-shaped body combining the handle and frame, made of light tan wood or bamboo-like material with visible grain, smooth matte finish, rounded edges, and a circular hanging hole near the wider handle end. Printed text is visible on the handle surface.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9657851457595825,
+                    "position": [
+                        0.115218804217875,
+                        0.013913129529100843,
+                        -0.009769775337190367
+                    ],
+                    "orientation": {
+                        "w": 0.061761700517319065,
+                        "xyz": [
+                            0.6809518384451011,
+                            0.012292548190768304,
+                            -0.7296156380769423
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9652292132377625,
+                    "position": [
+                        0.11243042442947626,
+                        0.00557363785628695,
+                        -0.0004210872430121526
+                    ],
+                    "orientation": {
+                        "w": 0.06427665013703014,
+                        "xyz": [
+                            0.7089073606876457,
+                            -0.05143069811552037,
+                            -0.7004810843280411
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9604302048683167,
+                    "position": [
+                        0.11746885720640421,
+                        -0.013327008971828036,
+                        0.0013953811576357111
+                    ],
+                    "orientation": {
+                        "w": 0.04231734465515094,
+                        "xyz": [
+                            -0.7105178628449665,
+                            0.01533361001236666,
+                            0.7022381998464245
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.959859311580658,
+                    "position": [
+                        0.1095398897305131,
+                        0.010892446225625463,
+                        -0.0025780274445423856
+                    ],
+                    "orientation": {
+                        "w": 0.7122097161383866,
+                        "xyz": [
+                            -0.03226230572810207,
+                            -0.6986206947738673,
+                            0.060378710659164316
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9591941237449646,
+                    "position": [
+                        0.11801709327846766,
+                        -0.011852307172375731,
+                        0.0002440307434881106
+                    ],
+                    "orientation": {
+                        "w": 0.7039495250271782,
+                        "xyz": [
+                            -0.030885076770235567,
+                            -0.7092509285298467,
+                            -0.021547589806215118
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9588873982429504,
+                    "position": [
+                        0.11052187625318766,
+                        0.0031759355479152873,
+                        -0.0011397109046811238
+                    ],
+                    "orientation": {
+                        "w": 0.05821399368563023,
+                        "xyz": [
+                            0.7154629010597781,
+                            -0.05179418842534955,
+                            -0.6942919632198365
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9571740031242371,
+                    "position": [
+                        0.1205642381682992,
+                        0.007284442035597749,
+                        -0.002322059022844769
+                    ],
+                    "orientation": {
+                        "w": 0.01567927022724316,
+                        "xyz": [
+                            0.710694882031207,
+                            -0.0064910541314811,
+                            -0.7032956784710485
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9568535685539246,
+                    "position": [
+                        0.06948512140661478,
+                        0.0852340358105721,
+                        0.006276565240113996
+                    ],
+                    "orientation": {
+                        "w": 0.30942032571454614,
+                        "xyz": [
+                            0.6256647848910234,
+                            0.3818606455348079,
+                            -0.6057929401814729
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "peeling blade",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "peel skin",
+                "cut thin strips",
+                "contact food surface",
+                "provide the primary cutting edge"
+            ],
+            "semantic_description": "Narrow horizontal peeler blade assembly across the top opening, appearing light-colored to white with a smooth finish and a long slot/opening through the center, forming the main cutting element.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade end caps",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secure the blade ends",
+                "connect blade to frame",
+                "allow blade mounting",
+                "protect blade-side junctions"
+            ],
+            "semantic_description": "Small hooked protrusions at both blade ends where the blade assembly meets the frame, colored olive green, with a smooth coated appearance and curved tip shape.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed label on handle",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display branding or product information",
+                "provide identification markings"
+            ],
+            "semantic_description": "Small dark printed text markings on the handle, appearing as fine narrow lettering on the smooth light tan wooden surface.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blade end caps color/description mismatched; blade color inaccurate; body description wrongly merges frame and handle details."
+    }
+}

dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:688f9446b6cb906ccee3dd40421e3eccaf9958fb54457ee6cb0e613b696c295c
+size 3779628

dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/peeler_026.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>