Add asset kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55

.gitattributes

@@ -7032,3 +7032,4 @@ dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/affordan
 dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ac41faffb401535dbf8985828c110688/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/affordance/affordance_annot.json

@@ -0,0 +1,254 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle frame",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and manipulate the peeler",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle while orienting the blade for peeling",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the peeler during storage or placement",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "support tool manipulation",
+                "connect blade assembly",
+                "transmit peeling force"
+            ],
+            "semantic_description": "Large dark gray to black plastic handle and yoke with a matte smooth surface, broad rounded shape, printed white logo text, and a hanging hole at the end.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9865500926971436,
+                    "position": [
+                        -0.035194240510463715,
+                        -0.10005941515555605,
+                        0.0006091813629609533
+                    ],
+                    "orientation": {
+                        "w": 0.4754639421811385,
+                        "xyz": [
+                            -0.5353211644811722,
+                            -0.46399643096748056,
+                            -0.5216057923312712
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.986362636089325,
+                    "position": [
+                        -0.03234654664993286,
+                        -0.10234369611134753,
+                        0.015339992423832882
+                    ],
+                    "orientation": {
+                        "w": 0.480936158561362,
+                        "xyz": [
+                            -0.5021401069550037,
+                            0.5546154454420563,
+                            0.45711861923637215
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9859083294868469,
+                    "position": [
+                        -0.03711012750864029,
+                        -0.1005446640192531,
+                        -0.0044337106446619146
+                    ],
+                    "orientation": {
+                        "w": 0.46768726196766297,
+                        "xyz": [
+                            -0.5252917749520228,
+                            -0.45261659753895334,
+                            -0.5481563570672191
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.985724687576294,
+                    "position": [
+                        -0.033084649592638016,
+                        -0.09899125521769747,
+                        -0.0001403505084454082
+                    ],
+                    "orientation": {
+                        "w": 0.5237090520838397,
+                        "xyz": [
+                            -0.46617936145810446,
+                            0.5360233284443823,
+                            0.4701963665101696
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9854817390441895,
+                    "position": [
+                        -0.029282275587320328,
+                        -0.1018256721436046,
+                        -0.0008402214662055485
+                    ],
+                    "orientation": {
+                        "w": 0.522960774717282,
+                        "xyz": [
+                            -0.45932515862103596,
+                            0.5382327684018766,
+                            0.4752240669235009
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9844448566436768,
+                    "position": [
+                        -0.013086391612887383,
+                        -0.10203048860421404,
+                        0.0009312484835390933
+                    ],
+                    "orientation": {
+                        "w": 0.5230463959878979,
+                        "xyz": [
+                            -0.4973314629704752,
+                            -0.5115778757655489,
+                            -0.4662316598118651
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9841623306274414,
+                    "position": [
+                        -0.08514312282204628,
+                        -0.08519928430905566,
+                        0.0012168046741862781
+                    ],
+                    "orientation": {
+                        "w": 0.6139942740722153,
+                        "xyz": [
+                            -0.33980708902403284,
+                            0.6290817620400647,
+                            0.3343625432432789
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9838457107543945,
+                    "position": [
+                        -0.007056619971990585,
+                        0.09856195474276319,
+                        -0.01746049016219331
+                    ],
+                    "orientation": {
+                        "w": 0.5527686036764243,
+                        "xyz": [
+                            0.43243374149115626,
+                            -0.47967024718645723,
+                            0.5266539508763407
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9835891723632812,
+                    "position": [
+                        -0.022939767688512802,
+                        0.10294407332548872,
+                        0.0015228304037009366
+                    ],
+                    "orientation": {
+                        "w": 0.48112066830415184,
+                        "xyz": [
+                            0.5027612577104266,
+                            0.5078440275294719,
+                            -0.5077878139327899
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9833752512931824,
+                    "position": [
+                        -0.032243646681308746,
+                        0.10253795707831159,
+                        -0.0026765100701595657
+                    ],
+                    "orientation": {
+                        "w": 0.5046831356300716,
+                        "xyz": [
+                            0.48309260794902625,
+                            0.5163819339664636,
+                            -0.4952435391084491
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "peeling blade",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "peel skin",
+                "slice thin layers",
+                "perform cutting action",
+                "contact food surface"
+            ],
+            "semantic_description": "Wide silver metal blade with a reflective smooth surface and straight elongated shape mounted across the peeler head.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutting edge",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form sharp cutting edge",
+                "remove thin peels",
+                "shear vegetable skin"
+            ],
+            "semantic_description": "Narrow sharpened strip along the blade center, appearing metallic and smooth with a thin linear profile that defines the active cutting edge.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade pivot pin",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten blade",
+                "allow blade rotation",
+                "support blade alignment"
+            ],
+            "semantic_description": "Tiny metallic pin or rivet head at the blade end, smooth and rounded, positioned where the blade attaches to the frame.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade end cap",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain blade assembly",
+                "cover blade axle end",
+                "help secure blade at the frame sides"
+            ],
+            "semantic_description": "Small rounded end piece on the outer side of the peeler head, dark gray to black and matte, located at each side where the blade mounts to the frame.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blade end cap color/identity mismatched; brown pins are screw/rivet ends, not pivot pin alone."
+    }
+}

dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918cb841466c7b41103811e68ec5f487ca142d1422721a5d2c35d1d744036f30
+size 3785624

dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/peeler_018.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>