Add asset kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc

.gitattributes

@@ -6998,3 +6998,4 @@ dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/affordan
 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/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/53463d71259654068546cd41562c5adc/affordance/affordance_annot.json

@@ -0,0 +1,229 @@
+{
+    "affordances": [
+        {
+            "part_name": "blade",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "peel fruit or vegetable skin",
+                "slice thin surface layers",
+                "provide the cutting edge",
+                "engage the food surface during pulling"
+            ],
+            "semantic_description": "Short silver metal blade assembly with a reflective smooth hard surface and a narrow dark cutting slot, mounted across the peeler head at the front.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and hold the peeler for use",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the handle to stabilize and orient the peeler before peeling",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle to place or retrieve the peeler from a drawer or rack",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "support tool control",
+                "transfer peeling force",
+                "orient the blade",
+                "hang for storage"
+            ],
+            "semantic_description": "Elongated bright orange plastic handle with a mostly matte hard smooth surface, fine raised grip texture, and a rounded hanging hole at the rear, forming the largest rear part of the peeler.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9871537089347839,
+                    "position": [
+                        0.005606403574347496,
+                        -0.09786930364498403,
+                        -0.012823139769352565
+                    ],
+                    "orientation": {
+                        "w": 0.546795394423005,
+                        "xyz": [
+                            -0.437697910944851,
+                            0.49984279276356136,
+                            0.5095022256228398
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9867776036262512,
+                    "position": [
+                        0.022222250699996948,
+                        0.08923941421380732,
+                        0.042390897418044915
+                    ],
+                    "orientation": {
+                        "w": 0.3747122063767998,
+                        "xyz": [
+                            0.6108663720923998,
+                            0.5981481418237035,
+                            -0.3586806912446656
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.986416220664978,
+                    "position": [
+                        0.012287840247154236,
+                        -0.09865414035448339,
+                        -0.0023418869686793187
+                    ],
+                    "orientation": {
+                        "w": 0.5068599773476937,
+                        "xyz": [
+                            -0.4838378359181498,
+                            0.5014146981179529,
+                            0.5075206521989218
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9859752058982849,
+                    "position": [
+                        0.015287408605217934,
+                        -0.09694235456117895,
+                        -0.000183362223651784
+                    ],
+                    "orientation": {
+                        "w": 0.4976808984654682,
+                        "xyz": [
+                            -0.5044227667227879,
+                            0.49344782383619423,
+                            0.5043616171613944
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9855225086212158,
+                    "position": [
+                        0.011117784306406975,
+                        -0.0975978715432575,
+                        -0.014946732190765033
+                    ],
+                    "orientation": {
+                        "w": 0.5507927062486112,
+                        "xyz": [
+                            -0.48033577383843873,
+                            0.44397405215788166,
+                            0.5184515214799453
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9854393005371094,
+                    "position": [
+                        0.0283348448574543,
+                        0.0839892433868954,
+                        0.0459534931133021
+                    ],
+                    "orientation": {
+                        "w": 0.3300204494711756,
+                        "xyz": [
+                            0.675066186397586,
+                            0.5358346887667412,
+                            -0.38503679464138557
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9851847887039185,
+                    "position": [
+                        0.013332104310393333,
+                        -0.09736159873136785,
+                        -0.007335288436479459
+                    ],
+                    "orientation": {
+                        "w": 0.5266878269340832,
+                        "xyz": [
+                            -0.4782553170365251,
+                            -0.49369944887517014,
+                            -0.5001326212776963
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9851406812667847,
+                    "position": [
+                        0.032968852669000626,
+                        0.09409933107963298,
+                        0.0307687013546456
+                    ],
+                    "orientation": {
+                        "w": 0.4510751453580688,
+                        "xyz": [
+                            0.5574976701373283,
+                            -0.5909698042551935,
+                            0.36943504366833674
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9843610525131226,
+                    "position": [
+                        0.013549964874982834,
+                        -0.09734932017454412,
+                        -0.002862453447050939
+                    ],
+                    "orientation": {
+                        "w": 0.5142054700693622,
+                        "xyz": [
+                            -0.46972865324962954,
+                            0.5138949270336413,
+                            0.5008589929672064
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9839550256729126,
+                    "position": [
+                        0.01757132075726986,
+                        -0.09769163710006978,
+                        -0.003515880541272054
+                    ],
+                    "orientation": {
+                        "w": 0.4697683677049745,
+                        "xyz": [
+                            -0.501911402761158,
+                            0.48293703226950513,
+                            0.5423785092948041
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9838592410087585,
+                    "position": [
+                        0.0306272991001606,
+                        0.09808729904762004,
+                        -0.012536509414530883
+                    ],
+                    "orientation": {
+                        "w": 0.5029715948677682,
+                        "xyz": [
+                            0.4867378982767505,
+                            0.45874255518959217,
+                            -0.5474130626824956
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083915eb5e9b048ce93b941aa8d3424a190b0d4d2b86f0caa408532317469dfb
+size 3780152

dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/peeler_007.urdf

@@ -54,6 +54,7 @@
                <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>