Add asset kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d

.gitattributes

@@ -7030,4 +7030,5 @@ dataset/kitchen_supplies/cutting_tools/9eaa9260bd2b5ed19159274b5dcb4dfa/affordan
 dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/aa99c23b0e9458539bb51c4bf7b8c977/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/ac3a1d06c773501ea4cc1f2c73d7608d/affordance/affordance_annot.json

@@ -0,0 +1,256 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and reposition the peeler",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to stabilize the peeler during peeling",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle end to orient the blade toward the target food",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support controlled peeling motion",
+                "connect blade head to user hold",
+                "indicate tool orientation"
+            ],
+            "semantic_description": "Long light gray plastic handle with a matte smooth hard surface, slightly tapered and gently curved, forming the largest rear part of the peeler with a small hanging hole at the end.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9796803593635559,
+                    "position": [
+                        0.10054244101047516,
+                        -3.890879452228546e-05,
+                        0.0002453869726650737
+                    ],
+                    "orientation": {
+                        "w": 0.706505113284817,
+                        "xyz": [
+                            -0.02603900479365006,
+                            -0.706607947261857,
+                            -0.02962606956970688
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9785401821136475,
+                    "position": [
+                        0.09462478756904602,
+                        0.0001112399622797966,
+                        -0.001343126170695541
+                    ],
+                    "orientation": {
+                        "w": 0.0352937112581301,
+                        "xyz": [
+                            -0.700131659223981,
+                            0.00878878620817225,
+                            0.7130867906046847
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9739010334014893,
+                    "position": [
+                        -0.08787421882152557,
+                        -0.035805216524749994,
+                        -7.121842850210669e-05
+                    ],
+                    "orientation": {
+                        "w": 0.6929664273794002,
+                        "xyz": [
+                            -0.14468062278308322,
+                            0.6922271975544336,
+                            0.14030878405169464
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.97368323802948,
+                    "position": [
+                        -0.10279020667076111,
+                        0.014189382549375296,
+                        -0.010249559529484031
+                    ],
+                    "orientation": {
+                        "w": 0.7403406410168217,
+                        "xyz": [
+                            0.018015298713443942,
+                            0.6715871960640997,
+                            -0.02327707786271806
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9699816703796387,
+                    "position": [
+                        -0.07782662659883499,
+                        -0.04094428801909089,
+                        0.03669510805571008
+                    ],
+                    "orientation": {
+                        "w": 0.5287703192814159,
+                        "xyz": [
+                            -0.12395335639276397,
+                            0.8159760783556415,
+                            0.198041799722549
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9648445248603821,
+                    "position": [
+                        -0.08607012033462524,
+                        -0.07627372303977609,
+                        -0.001656731236153064
+                    ],
+                    "orientation": {
+                        "w": 0.6850481147268416,
+                        "xyz": [
+                            -0.18337898168042416,
+                            0.6853019532782353,
+                            0.16565766634866597
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9615199565887451,
+                    "position": [
+                        -0.08315327018499374,
+                        -0.03992093587294221,
+                        -0.0006945224542960204
+                    ],
+                    "orientation": {
+                        "w": 0.6887056487756068,
+                        "xyz": [
+                            -0.17072623586885918,
+                            0.6856913872004015,
+                            0.16237118971606168
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9610666632652283,
+                    "position": [
+                        -0.02418811246752739,
+                        -0.1322613270021975,
+                        -0.00031535251241621154
+                    ],
+                    "orientation": {
+                        "w": 0.540715346035952,
+                        "xyz": [
+                            -0.44654744586799283,
+                            0.5513352320658957,
+                            0.45194220319952144
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9593442678451538,
+                    "position": [
+                        -0.021336497738957405,
+                        -0.13677588710561395,
+                        -0.0031439717806733825
+                    ],
+                    "orientation": {
+                        "w": 0.5498361068837084,
+                        "xyz": [
+                            -0.4547781325406098,
+                            0.5360287420202136,
+                            0.45114331809090275
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.958771824836731,
+                    "position": [
+                        -0.08675538748502731,
+                        -0.08617787668481469,
+                        -0.004924786039055107
+                    ],
+                    "orientation": {
+                        "w": 0.16932008584013408,
+                        "xyz": [
+                            -0.6721685246838474,
+                            -0.16963821750705477,
+                            -0.7005305547343803
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "peeling blade",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cut thin strips of skin",
+                "peel fruits and vegetables",
+                "provide the main sharp working edge",
+                "shave surface layers"
+            ],
+            "semantic_description": "Short silver metal transverse blade with a reflective smooth hard finish, mounted across the head as a narrow straight cutting element.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade support pin",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount the blade",
+                "allow blade rotation or compliance",
+                "connect blade to frame",
+                "stabilize cutting assembly"
+            ],
+            "semantic_description": "Small silver metal pin-like end piece with a smooth reflective hard surface, positioned at one side of the blade head as part of the blade mount.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade support pin",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount the blade",
+                "allow blade rotation or compliance",
+                "connect blade to frame",
+                "stabilize cutting assembly"
+            ],
+            "semantic_description": "Small silver metal pin-like end piece with a smooth reflective hard surface, positioned at the opposite side of the blade head as part of the blade mount.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hanging hole insert",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enable hanging storage",
+                "provide end-hole reinforcement",
+                "indicate handle end"
+            ],
+            "semantic_description": "Small oval opening detail at the handle tip, appearing as a dark recessed hole within the light gray plastic handle with smooth hard edges.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3782052