Add asset kitchen_supplies/cutting_tools/76d0aa48cb2a5a37b4b707cf6c462760

.gitattributes

@@ -7012,3 +7012,4 @@ dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/affordan
 dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/748a226d3b575980833fce2aa084af22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/76d0aa48cb2a5a37b4b707cf6c462760/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/76d0aa48cb2a5a37b4b707cf6c462760/affordance/affordance_annot.json

@@ -0,0 +1,262 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle and frame body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and use the peeler",
+                    "confidence": 0.99
+                },
+                {
+                    "scenario": "hold the handle to stabilize the peeler during peeling",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp the handle to reorient the tool in a drawer or bin",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "main grip",
+                "support the blade assembly",
+                "transmit peeling force",
+                "provide tool orientation"
+            ],
+            "semantic_description": "Large black plastic handle and y-shaped frame with a matte smooth surface, broad tapered handle, and integrated head supporting the blade.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9859760403633118,
+                    "position": [
+                        0.0013964194804430008,
+                        -0.09748044656589627,
+                        -0.0010406112996861339
+                    ],
+                    "orientation": {
+                        "w": 0.4605311817398604,
+                        "xyz": [
+                            -0.5521739298582297,
+                            0.44028164576501216,
+                            0.5377425538607286
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.984923243522644,
+                    "position": [
+                        -0.015015455894172192,
+                        -0.09755077259615064,
+                        -0.0017284658970311284
+                    ],
+                    "orientation": {
+                        "w": 0.5053915882982881,
+                        "xyz": [
+                            -0.5121123810657159,
+                            0.48490848683667875,
+                            0.4971760362590897
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9841071367263794,
+                    "position": [
+                        0.0013466388918459415,
+                        0.0958034391514957,
+                        -0.00018769223242998123
+                    ],
+                    "orientation": {
+                        "w": 0.43541049484130645,
+                        "xyz": [
+                            0.5681023792154102,
+                            0.41980965086414157,
+                            -0.5580656276399455
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9834961891174316,
+                    "position": [
+                        0.0022109923884272575,
+                        -0.09756264882162213,
+                        -0.002024864428676665
+                    ],
+                    "orientation": {
+                        "w": 0.49889641056292083,
+                        "xyz": [
+                            -0.5195077440324603,
+                            0.4741050275721508,
+                            0.5063975693548972
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9831854701042175,
+                    "position": [
+                        -0.018714281730353832,
+                        -0.09759797202423215,
+                        -0.0035462180385366082
+                    ],
+                    "orientation": {
+                        "w": 0.5366244589584473,
+                        "xyz": [
+                            -0.4659160540360606,
+                            0.5164613148552767,
+                            0.4777280930581531
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.976421058177948,
+                    "position": [
+                        0.016095571219921112,
+                        0.0960749532096088,
+                        0.0010454850271344185
+                    ],
+                    "orientation": {
+                        "w": 0.44182164467704166,
+                        "xyz": [
+                            0.5658601028093307,
+                            0.4298242987402786,
+                            -0.5475829166034264
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9762048125267029,
+                    "position": [
+                        0.01462713722139597,
+                        0.09502962930127978,
+                        0.0018872153013944626
+                    ],
+                    "orientation": {
+                        "w": 0.41070051041581573,
+                        "xyz": [
+                            0.565354025607987,
+                            0.4417411494343778,
+                            -0.5626408031501331
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9735109806060791,
+                    "position": [
+                        -0.03319371957331896,
+                        0.09759963257238269,
+                        -0.0015196207677945495
+                    ],
+                    "orientation": {
+                        "w": 0.48710104195203796,
+                        "xyz": [
+                            0.5107993306015608,
+                            -0.48596182677240574,
+                            0.5154199469425517
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade body",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cutting edge",
+                "peel skin",
+                "contact food surface",
+                "perform the main cutting action"
+            ],
+            "semantic_description": "Short silver metal blade with a smooth reflective finish, mounted horizontally across the head of the peeler.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutting edge",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "slice peel",
+                "initiate material removal",
+                "provide sharp cutting action"
+            ],
+            "semantic_description": "Narrow metal cutting strip running along the blade, visible as a slim inset line on the silver blade body.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left blade axle pin",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount the blade",
+                "allow blade pivoting",
+                "connect blade to frame"
+            ],
+            "semantic_description": "Small dark rounded end pin at one side of the blade mount, positioned at the frame end of the blade.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right blade axle pin",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount the blade",
+                "allow blade pivoting",
+                "connect blade to frame"
+            ],
+            "semantic_description": "Small dark rounded end pin at the opposite side of the blade mount, positioned at the other frame end of the blade.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hanging hole",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "allow hanging storage",
+                "provide a hanging point"
+            ],
+            "semantic_description": "Small oval opening at the tip of the handle, visible as a hole through the black plastic for hanging the peeler.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "brand logo mark",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brand identification",
+                "visual marking"
+            ],
+            "semantic_description": "Small light-colored printed brand/logo marking near the middle of the handle, contrasting against the black plastic surface.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner frame strip",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define inner frame contour",
+                "reinforce the head opening",
+                "border the blade area"
+            ],
+            "semantic_description": "Thin black strip along the inner curve of the y-frame beneath the blade, matching the plastic body with a matte finish and outlining the inside of the opening.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color/part mappings are wrong; cyan is logo, magenta is inner frame strip, red is hanging hole, orange is cutting edge."
+    }
+}

dataset/kitchen_supplies/cutting_tools/76d0aa48cb2a5a37b4b707cf6c462760/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf9d387f43f4cab2ba5a0010942fd54253fd56579e9671f31072c4a7fdeeef25
+size 3785260