Add asset kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943

.gitattributes

@@ -8377,3 +8377,4 @@ dataset/kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4/affordan
 dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/affordance/affordance_annot.json

@@ -0,0 +1,213 @@
+{
+    "affordances": [
+        {
+            "part_name": "peeler handle",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and manipulate the peeler for peeling",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to stabilize and reorient the peeler during tool use",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the handle to store or place the peeler in a drawer or rack",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "main grip",
+                "support controlled peeling motion",
+                "connect blade assembly to handhold",
+                "stabilize tool orientation",
+                "provide hanging hole for storage"
+            ],
+            "semantic_description": "Large light-blue plastic handle with a mostly matte smooth hard surface, rounded ergonomic shape, integrated hanging hole, and a broad curved frame supporting the blade at the front.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9799737930297852,
+                    "position": [
+                        0.01884888345375657,
+                        -0.09360093701980077,
+                        -0.03125267176073976
+                    ],
+                    "orientation": {
+                        "w": 0.5491659761324048,
+                        "xyz": [
+                            -0.35696185016670795,
+                            -0.45385477892864123,
+                            -0.604161243235395
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9770824909210205,
+                    "position": [
+                        0.02464124048128724,
+                        0.09753736029961146,
+                        0.015428600105224177
+                    ],
+                    "orientation": {
+                        "w": 0.4955941693839394,
+                        "xyz": [
+                            0.5084925915352216,
+                            -0.5564852418760944,
+                            0.43144626455740903
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9760540723800659,
+                    "position": [
+                        0.01859091641381383,
+                        -0.09755639065406285,
+                        -0.01120042966795154
+                    ],
+                    "orientation": {
+                        "w": 0.5198107861567512,
+                        "xyz": [
+                            -0.4921722954956361,
+                            0.45572740711511195,
+                            0.5290328047917189
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9760379791259766,
+                    "position": [
+                        -0.012960561085492373,
+                        -0.09556639273068868,
+                        -0.010516622831346467
+                    ],
+                    "orientation": {
+                        "w": 0.5569188081419683,
+                        "xyz": [
+                            -0.41374092810947105,
+                            0.5332006072324906,
+                            0.48410432552472293
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9749121069908142,
+                    "position": [
+                        0.0047078258357942104,
+                        -0.09677907158038579,
+                        -0.0045680289913434535
+                    ],
+                    "orientation": {
+                        "w": 0.4991586283136942,
+                        "xyz": [
+                            -0.4879471724084648,
+                            0.4973457409943599,
+                            0.5151654439433472
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9737409353256226,
+                    "position": [
+                        0.057101617101579905,
+                        0.08702918063499965,
+                        -7.825234206393361e-06
+                    ],
+                    "orientation": {
+                        "w": 0.3470459424934421,
+                        "xyz": [
+                            0.6205297001938189,
+                            0.3520810704801103,
+                            -0.6087207280730527
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9733874201774597,
+                    "position": [
+                        0.06041927868500352,
+                        0.08364835302927531,
+                        0.014145696739433333
+                    ],
+                    "orientation": {
+                        "w": 0.5886938187491232,
+                        "xyz": [
+                            0.3896554909740852,
+                            -0.6469829762319743,
+                            0.28813402191746756
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9730184674263,
+                    "position": [
+                        0.06263419473543763,
+                        0.08791029374697246,
+                        -0.007597290241392329
+                    ],
+                    "orientation": {
+                        "w": 0.6577485494994711,
+                        "xyz": [
+                            0.38303397263195804,
+                            -0.5679916968008233,
+                            0.3131090126560464
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9729440808296204,
+                    "position": [
+                        0.10444930428639054,
+                        0.0542594782600645,
+                        0.014046919735847041
+                    ],
+                    "orientation": {
+                        "w": 0.10693134987969727,
+                        "xyz": [
+                            0.7072769566750219,
+                            0.27718658290843734,
+                            -0.6414768828453361
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9728348255157471,
+                    "position": [
+                        0.06768828118219972,
+                        0.08453207384445705,
+                        0.012518265488324687
+                    ],
+                    "orientation": {
+                        "w": 0.5801830050573435,
+                        "xyz": [
+                            0.3325778226031871,
+                            -0.6663627659514093,
+                            0.3297579971869386
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "peeling blade",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "peel skin",
+                "cut thin surface layers",
+                "scrape produce surface",
+                "perform the tool's cutting action"
+            ],
+            "semantic_description": "Small silver metal transverse blade assembly with a smooth reflective finish and sharp slotted cutting edge, mounted across the front of the peeler between two rounded supports.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d79e08625c2f8c55cbbd4c5fbdc337c66e4ac17ebc062cc30d170d3aac8e8c51
+size 3779924

dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/peeler_029.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>