Add asset kitchen_supplies/cutting_tools/748a226d3b575980833fce2aa084af22

.gitattributes

@@ -7010,3 +7010,4 @@ dataset/kitchen_supplies/cutting_tools/5f45fb5b241359fd8d07aba9f69ea586/affordan
 dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/748a226d3b575980833fce2aa084af22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/748a226d3b575980833fce2aa084af22/affordance/affordance_annot.json

@@ -0,0 +1,258 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle and frame",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and use the peeler",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to stabilize and orient the peeler during peeling",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the frame near the head for precise repositioning",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "support and position the peeling head",
+                "transfer hand force to the cutting head",
+                "stabilize the tool during peeling"
+            ],
+            "semantic_description": "Large turquoise plastic handle integrated with the U-shaped frame, with a smooth matte-to-satin surface, rounded ergonomic shape, and an oval hanging hole at the rear.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9864454865455627,
+                    "position": [
+                        0.09968097109231167,
+                        0.04031980782747269,
+                        -0.003119827655609697
+                    ],
+                    "orientation": {
+                        "w": 0.7231773437062997,
+                        "xyz": [
+                            0.019739604319907636,
+                            -0.6903697386680431,
+                            -0.0038080838504580485
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9861004948616028,
+                    "position": [
+                        0.10079812604817562,
+                        0.04532347247004509,
+                        -0.003781819192226976
+                    ],
+                    "orientation": {
+                        "w": 0.720395160073731,
+                        "xyz": [
+                            0.029883381263205833,
+                            -0.6928939402206954,
+                            0.0059820123754880695
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9853997826576233,
+                    "position": [
+                        0.0963508446875494,
+                        0.040694598108530045,
+                        0.007665802782867104
+                    ],
+                    "orientation": {
+                        "w": 0.6800190356827008,
+                        "xyz": [
+                            -0.03297153689149814,
+                            -0.7312792611850824,
+                            0.04144431233332242
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9844836592674255,
+                    "position": [
+                        0.09983774620923214,
+                        0.05537101998925209,
+                        -0.007471973018255085
+                    ],
+                    "orientation": {
+                        "w": 0.06138665345926435,
+                        "xyz": [
+                            0.6878347961253016,
+                            0.016324980892273522,
+                            -0.723082614239344
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9836534857749939,
+                    "position": [
+                        0.095757450646488,
+                        0.03691708296537399,
+                        0.0035580103867687285
+                    ],
+                    "orientation": {
+                        "w": 0.6980864636302045,
+                        "xyz": [
+                            -0.010012210780491065,
+                            -0.7156209794123133,
+                            0.021486245752188927
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.983437180519104,
+                    "position": [
+                        0.10376017887028866,
+                        0.0376865528523922,
+                        -0.003304604848381132
+                    ],
+                    "orientation": {
+                        "w": 0.7157045327921853,
+                        "xyz": [
+                            0.008989291346715299,
+                            -0.6982738929729322,
+                            0.009989232914987841
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9834270477294922,
+                    "position": [
+                        0.09637807655963115,
+                        0.026316335424780846,
+                        0.01641721004853025
+                    ],
+                    "orientation": {
+                        "w": 0.06678108485944213,
+                        "xyz": [
+                            -0.7627675423459491,
+                            0.041309003115531984,
+                            0.6418874740249397
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9832985997200012,
+                    "position": [
+                        0.098080668336479,
+                        0.02628425508737564,
+                        -0.0009123467607423663
+                    ],
+                    "orientation": {
+                        "w": 0.06846331953676679,
+                        "xyz": [
+                            -0.7019322718306809,
+                            0.03844044191842744,
+                            0.7079026713226487
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9831455945968628,
+                    "position": [
+                        0.09355419475468807,
+                        0.029543129727244377,
+                        0.026545400789473206
+                    ],
+                    "orientation": {
+                        "w": 0.5857776193598422,
+                        "xyz": [
+                            -0.0476159319835919,
+                            -0.8077329334178894,
+                            -0.04652753970050104
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9827651381492615,
+                    "position": [
+                        0.10279377151164226,
+                        0.03558969870209694,
+                        -0.0011123408912681043
+                    ],
+                    "orientation": {
+                        "w": 0.706321103992735,
+                        "xyz": [
+                            0.009795578949458041,
+                            -0.7077080004711407,
+                            0.012803544691585674
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9820370674133301,
+                    "position": [
+                        0.10320606429013424,
+                        0.05385452136397362,
+                        -0.0018413920770399272
+                    ],
+                    "orientation": {
+                        "w": 0.06814589771034224,
+                        "xyz": [
+                            0.7012547234244361,
+                            0.010879313050700667,
+                            -0.709562957071262
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rotating peeling head",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contact produce surface during peeling",
+                "support the cutting edge assembly",
+                "rotate to follow surface contours",
+                "remove thin outer layers when used with the blade edge"
+            ],
+            "semantic_description": "Cylindrical silver metal peeling head spanning the frame, with a reflective smooth surface and elongated roller-like form mounted horizontally between the frame arms.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blade pivot caps",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secure the peeling head mount",
+                "act as pivot endpoints",
+                "connect the head to the frame",
+                "maintain head alignment"
+            ],
+            "semantic_description": "Small round turquoise-blue plastic pivot caps at the two outer ends of the peeler head, with a smooth hard finish and compact circular shape.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutting edge strip",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide sharpened cutting edge",
+                "slice thin peels from produce",
+                "contact the food surface during peeling",
+                "define the working edge of the head"
+            ],
+            "semantic_description": "Thin narrow metallic strip along one side of the peeling head, appearing silver and reflective with a hard smooth finish and a very slender linear profile.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and part grouping are incorrect; red is handle/frame, green is blade assembly, magenta is cutting edge."
+    }
+}

dataset/kitchen_supplies/cutting_tools/748a226d3b575980833fce2aa084af22/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e48dffdc2cffbd159ecd14c55588c346ac1925a9ed1ae59be5ee91a1c2291b45
+size 3780792

dataset/kitchen_supplies/cutting_tools/748a226d3b575980833fce2aa084af22/peeler_004.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>