Add asset kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db

.gitattributes

@@ -6999,3 +6999,4 @@ dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/affordan
 dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/affordance/affordance_annot.json

@@ -0,0 +1,164 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle and frame",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and reposition the peeler",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle while orienting the blade toward a fruit or vegetable",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "stabilize the peeler by clamping the frame during tool handoff",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "support the blade assembly",
+                "transfer peeling force",
+                "orient the tool",
+                "hang the peeler by the end hole"
+            ],
+            "semantic_description": "Large white plastic body with a smooth matte-to-satin finish, forming an ergonomic handle and Y-shaped frame with a rounded hanging hole at the handle end.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.971849799156189,
+                    "position": [
+                        -0.0005340008065104485,
+                        -0.0989552269293199,
+                        0.004622541455319151
+                    ],
+                    "orientation": {
+                        "w": 0.45630852325318033,
+                        "xyz": [
+                            -0.553879551101441,
+                            0.457874301262005,
+                            0.5247390768010318
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9712284803390503,
+                    "position": [
+                        -0.0016741333529353142,
+                        -0.09342034706605773,
+                        0.021850946912309155
+                    ],
+                    "orientation": {
+                        "w": 0.42368693815023145,
+                        "xyz": [
+                            -0.44212183543576244,
+                            -0.6398513921256058,
+                            -0.4643359312682131
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9667598605155945,
+                    "position": [
+                        0.11940112803131342,
+                        -0.0023849584231356857,
+                        -0.0023381162027362734
+                    ],
+                    "orientation": {
+                        "w": 0.02099522142626478,
+                        "xyz": [
+                            0.7001722636920973,
+                            -0.05567404047845692,
+                            -0.7114902691185236
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9665480852127075,
+                    "position": [
+                        0.11028906796127558,
+                        0.045008124916421366,
+                        0.007408734963973984
+                    ],
+                    "orientation": {
+                        "w": 0.6735404818485371,
+                        "xyz": [
+                            0.22680957064098517,
+                            -0.6965147930384805,
+                            0.09883208515181416
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9647495150566101,
+                    "position": [
+                        0.11899849865585566,
+                        0.012061135044859839,
+                        0.0008844601979944855
+                    ],
+                    "orientation": {
+                        "w": 0.05719336331464706,
+                        "xyz": [
+                            -0.6974047440936378,
+                            -0.12577388456690564,
+                            0.7032328718635077
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9646723866462708,
+                    "position": [
+                        0.1170372823253274,
+                        -0.006089686283303308,
+                        -0.0023457132338080555
+                    ],
+                    "orientation": {
+                        "w": 0.7210173480778413,
+                        "xyz": [
+                            -0.015162003049473897,
+                            -0.692022683202372,
+                            -0.03176009080140797
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "peeling blade",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "peel produce skin",
+                "cut thin surface layers",
+                "contact the food surface",
+                "provide the primary cutting edge"
+            ],
+            "semantic_description": "Thin narrow metallic blade spanning the peeler head, silver to gray and slightly reflective, with a long straight slot along its center.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade pivots",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount the blade",
+                "allow blade rotation",
+                "connect blade to frame",
+                "help blade self-adjust to surface angle"
+            ],
+            "semantic_description": "Small rounded pivot posts at both ends of the peeler head, appearing silver metallic and smooth, protruding slightly from the sides where the blade is mounted.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d727f9053424f8c537217746ee72b44b44f53e86d0ba873a8481ead5d2349823
+size 3781048

dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/peeler_025.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>