Add asset kitchen_supplies/cutting_tools/f1bb99024a5a565cb72d063643a70f36

.gitattributes

@@ -7059,3 +7059,4 @@ dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/affordan
 dataset/kitchen_supplies/cutting_tools/f0a38e858e795fbfb1f35a7fb93fd131/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/f0fabca37d6456178f293e238ea1dcb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/f1bb99024a5a565cb72d063643a70f36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/f1bb99024a5a565cb72d063643a70f36/affordance/affordance_annot.json

@@ -0,0 +1,82 @@
+{
+    "affordances": [
+        {
+            "part_name": "board body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the board body along an edge to pick up the cutting board",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the board body to reposition it on a countertop",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "stabilize the board by clamping the main body during handling",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide the main cutting surface",
+                "support food during chopping",
+                "serve as the structural body",
+                "allow general handling and placement"
+            ],
+            "semantic_description": "Large rectangular light honey-brown wooden body with rounded corners, a smooth satin finish, visible striped wood grain, and a broad flat form that makes up most of the cutting board.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle groove",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "place fingertips or a slim gripper in the recessed side groove to help lift the board from a surface",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "use the recessed groove as a stabilizing contact point while reorienting the board",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "provide a recessed handhold",
+                "assist lifting from a countertop",
+                "aid carrying and reorientation"
+            ],
+            "semantic_description": "Narrow elongated recessed slot near one short-side edge of the wooden board, matching the light brown wood with smooth rounded ends and a shallow carved handle-like shape.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hanging hole",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert a finger-like gripper tip into the hole to pull or reorient the board",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hook the hole to lift or hang the board",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "enable hanging storage",
+                "provide a pulling point",
+                "help with reorientation during handling"
+            ],
+            "semantic_description": "Small oval through-hole near one corner of the board, cut through the light brown wood with smooth finished edges and sized as a hanging or pulling feature.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green/blue parts are swapped; groove and edge trench identities mismatch mask and RGB views."
+    }
+}

dataset/kitchen_supplies/cutting_tools/f1bb99024a5a565cb72d063643a70f36/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c243c2c18f3cc75712032c4bac398804bb8788000a527cee97d0cfae7261ee0d
+size 662396

dataset/kitchen_supplies/cutting_tools/f1bb99024a5a565cb72d063643a70f36/f1bb99024a5a565cb72d063643a70f36.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>