Add asset kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b

.gitattributes

@@ -8375,3 +8375,4 @@ dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/affordance/me
 dataset/kitchen_supplies/cookware/fe20d183322d54fa93fc1aac42ec50b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/affordance/affordance_annot.json

@@ -0,0 +1,163 @@
+{
+    "affordances": [
+        {
+            "part_name": "main wooden body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the wooden body to pick up and reposition the peeler",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the wooden body while peeling produce",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the body to orient the blade against the food surface",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "support and connect the blade mounts",
+                "transmit peeling force",
+                "enable tool orientation",
+                "allow hanging storage via hole"
+            ],
+            "semantic_description": "Light tan wooden body with visible wood grain and a smooth matte finish, shaped like a Y-style peeler frame with a rounded lower grip, open center, side blade supports, and a hanging hole near one end.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.947798490524292,
+                    "position": [
+                        0.08720591943711042,
+                        0.057173854584107175,
+                        0.0127896280537243
+                    ],
+                    "orientation": {
+                        "w": 0.6439664864449962,
+                        "xyz": [
+                            0.25599674157798763,
+                            -0.7025117227474194,
+                            0.16201886322151415
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9469456672668457,
+                    "position": [
+                        -0.056420535780489445,
+                        -0.09387336028157733,
+                        -0.005084587210149039
+                    ],
+                    "orientation": {
+                        "w": 0.6187657648725978,
+                        "xyz": [
+                            -0.36027376888525803,
+                            0.5911600735832712,
+                            0.37129706041909594
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9447590112686157,
+                    "position": [
+                        0.02534716483205557,
+                        -0.09150885892449878,
+                        -0.0003273247930337675
+                    ],
+                    "orientation": {
+                        "w": 0.40955560140691044,
+                        "xyz": [
+                            -0.5841939648920682,
+                            0.4028406831254825,
+                            0.5733245195863365
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9407989978790283,
+                    "position": [
+                        -0.03465948719531298,
+                        -0.09707228196202777,
+                        0.02314976840716554
+                    ],
+                    "orientation": {
+                        "w": 0.5334802683363152,
+                        "xyz": [
+                            -0.5656084706294766,
+                            0.5527805499648015,
+                            0.29986584471828176
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9375824332237244,
+                    "position": [
+                        -0.017025056295096874,
+                        0.09971767562092282,
+                        -0.0005191658929106779
+                    ],
+                    "orientation": {
+                        "w": 0.5240257622280104,
+                        "xyz": [
+                            0.5005110370825548,
+                            0.5113784060907894,
+                            -0.4619283797992302
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9367460012435913,
+                    "position": [
+                        -0.056085691787302494,
+                        -0.09028409523307346,
+                        -0.010751790781796444
+                    ],
+                    "orientation": {
+                        "w": 0.6315527264243226,
+                        "xyz": [
+                            -0.34655020573572304,
+                            0.5826882046293043,
+                            0.3761895331297922
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "peeling blade",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut thin outer skin",
+                "peel produce",
+                "provide sharp working edge",
+                "scrape surface layers"
+            ],
+            "semantic_description": "Short silver metal blade with a smooth reflective finish and straight rectangular form mounted across the top opening between the side supports, appearing thin, hard, and sharp.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed logo marking",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brand identification",
+                "provide product information",
+                "decorate the handle surface"
+            ],
+            "semantic_description": "Small dark printed logo and text markings on the wooden body, flat and nonstructural, visible on the broad handle surfaces near the center and toward the rounded end.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b39bc902d576eacc4d16a978cd8a90ed40af45f20379a958b9b1ce004ca26b2
+size 3776832

dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/peeler_021.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>