Add asset kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816

.gitattributes

@@ -6996,3 +6996,4 @@ dataset/kitchen_supplies/cutting_tools/4904292ccc6c5a3f9041dfbca8b8ff90/affordan
 dataset/kitchen_supplies/cutting_tools/43cd0e7d919d576a9e990596be9f76fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/affordance/affordance_annot.json

@@ -0,0 +1,304 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and manipulate the peeler",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to stabilize the peeler while peeling",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "reorient the peeler by pinching the handle near the neck",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "main grip",
+                "support hand force during peeling",
+                "connect blade head to user grip",
+                "stabilize tool orientation"
+            ],
+            "semantic_description": "Large white plastic handle with a matte smooth hard surface, gently curved and rounded, forming the main body below and behind the blade head with small printed characters visible on one face.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9730620980262756,
+                    "position": [
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+                        -0.09790150221670046,
+                        -0.022027392114978284
+                    ],
+                    "orientation": {
+                        "w": 0.5718901681323616,
+                        "xyz": [
+                            -0.42075809957186533,
+                            -0.45294470482988014,
+                            -0.5392080782080185
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9712266325950623,
+                    "position": [
+                        -0.014409255119971931,
+                        -0.10240622755372897,
+                        -0.002646702283527702
+                    ],
+                    "orientation": {
+                        "w": 0.49968694416650594,
+                        "xyz": [
+                            -0.48420783984598986,
+                            0.49868168775031463,
+                            0.5168871249738347
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9702011942863464,
+                    "position": [
+                        -0.01386108691804111,
+                        -0.10033456381643191,
+                        0.0021108241635374725
+                    ],
+                    "orientation": {
+                        "w": 0.4988421070828617,
+                        "xyz": [
+                            -0.5047473988342819,
+                            -0.5042813479966045,
+                            -0.49202331005134786
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9659562110900879,
+                    "position": [
+                        -0.00835349690169096,
+                        -0.0992759182699956,
+                        -0.005458992149215192
+                    ],
+                    "orientation": {
+                        "w": 0.4974491494271658,
+                        "xyz": [
+                            -0.4980157625486108,
+                            0.48007203025701295,
+                            0.5235030943100766
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9651708602905273,
+                    "position": [
+                        0.0212349696084857,
+                        0.0912283718935214,
+                        -0.0023910432937555015
+                    ],
+                    "orientation": {
+                        "w": 0.36070507431784027,
+                        "xyz": [
+                            0.5454094313707403,
+                            0.43947143178624226,
+                            -0.6158613985118382
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9647894501686096,
+                    "position": [
+                        -0.0072863358072936535,
+                        -0.10273711528861895,
+                        -0.0010507101542316377
+                    ],
+                    "orientation": {
+                        "w": 0.5930786306860703,
+                        "xyz": [
+                            -0.5513661215772857,
+                            -0.43118006971068323,
+                            -0.39791567609815015
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9607152342796326,
+                    "position": [
+                        -0.06559547502547503,
+                        -0.09582742449129,
+                        -0.0004979993682354689
+                    ],
+                    "orientation": {
+                        "w": 0.6135495482271479,
+                        "xyz": [
+                            -0.36013830395819907,
+                            0.607957087866801,
+                            0.35248479854441
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9605054259300232,
+                    "position": [
+                        -0.01437608280684799,
+                        0.10054331127321348,
+                        0.0044992578332312405
+                    ],
+                    "orientation": {
+                        "w": 0.49443405572624627,
+                        "xyz": [
+                            0.5220538578726972,
+                            -0.4994755215412343,
+                            0.4832379718104131
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9594670534133911,
+                    "position": [
+                        -0.02554188948124647,
+                        -0.09758013632381335,
+                        0.004117523145396262
+                    ],
+                    "orientation": {
+                        "w": 0.5222678930028979,
+                        "xyz": [
+                            -0.48234588240609316,
+                            0.5293021968470858,
+                            0.46305278541117717
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9576790928840637,
+                    "position": [
+                        -0.06642088014632463,
+                        -0.0969955637701787,
+                        -0.007161627232562751
+                    ],
+                    "orientation": {
+                        "w": 0.623201690743741,
+                        "xyz": [
+                            -0.34506165600512406,
+                            0.5970813540452078,
+                            0.3688440901799634
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9560931324958801,
+                    "position": [
+                        -0.06196143198758364,
+                        0.09457792941248044,
+                        0.010452272195834666
+                    ],
+                    "orientation": {
+                        "w": 0.5659518527508146,
+                        "xyz": [
+                            0.36759235526362516,
+                            0.644607592138084,
+                            -0.35924283274353874
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9557124972343445,
+                    "position": [
+                        -0.0610898407176137,
+                        -0.09644049551570788,
+                        0.0011171887163072824
+                    ],
+                    "orientation": {
+                        "w": 0.6065549601202473,
+                        "xyz": [
+                            -0.36741826483465573,
+                            0.608964477646434,
+                            0.3553268410692077
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9554861783981323,
+                    "position": [
+                        -0.04714909661561251,
+                        0.10342777374899015,
+                        -0.00038721488090232015
+                    ],
+                    "orientation": {
+                        "w": 0.42246072093586284,
+                        "xyz": [
+                            0.5689203855953922,
+                            -0.40678518514980544,
+                            0.5765261028461592
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9552323818206787,
+                    "position": [
+                        -0.05954585690051317,
+                        0.09681825939333066,
+                        0.006297965825069696
+                    ],
+                    "orientation": {
+                        "w": 0.5369467856169747,
+                        "xyz": [
+                            0.3040989572751985,
+                            0.6612639030254357,
+                            -0.4265466260038904
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "peel skin",
+                "cut thin strips",
+                "scrape produce surface",
+                "provide cutting edge"
+            ],
+            "semantic_description": "Narrow silver-gray metal blade with a smooth reflective finish, mounted horizontally or diagonally across the head as a thin rectangular cutting element.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left blade axle cap",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support blade pivot",
+                "retain blade end",
+                "connect blade to frame"
+            ],
+            "semantic_description": "Small white plastic end cap with a matte hard smooth surface, positioned at one end of the blade assembly as a short rounded protrusion.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right blade axle cap",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support blade pivot",
+                "retain blade end",
+                "connect blade to frame"
+            ],
+            "semantic_description": "Small white plastic end cap with a matte hard smooth surface, positioned at the opposite end of the blade assembly as a short rounded protrusion.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa7e2b45f0c5b4cb28f0a4475ccc93df871bc0f97422784752c8a56d211bef84
+size 3778716

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/peeler_027.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>