Add asset kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b

.gitattributes

@@ -7011,4 +7011,4 @@ dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/affordan
 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/75fbfac461d95b8c80c2aa5e703f5ca7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/affordance/affordance_annot.json

@@ -0,0 +1,178 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and manipulate the peeler",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to stabilize and orient the peeler during peeling",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the handle to place or retrieve the tool from storage",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support hand positioning",
+                "transmit peeling force",
+                "orient the tool",
+                "connect blade assembly"
+            ],
+            "semantic_description": "Large curved white plastic handle with a matte to satin finish, smooth hard surface, and an elongated ergonomic shape forming most of the peeler body, with a small hanging hole at the end.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9814918637275696,
+                    "position": [
+                        0.01627328725589905,
+                        -0.09660967800300568,
+                        -0.014845725992927328
+                    ],
+                    "orientation": {
+                        "w": 0.49751843748608154,
+                        "xyz": [
+                            -0.39573812094227584,
+                            -0.5217167906728739,
+                            -0.5689273541714104
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9775019288063049,
+                    "position": [
+                        -0.006427203174098395,
+                        -0.09524903807323426,
+                        -0.007135240739444271
+                    ],
+                    "orientation": {
+                        "w": 0.5805022550460225,
+                        "xyz": [
+                            -0.4354252429147592,
+                            0.5335541631120387,
+                            0.4344444092688011
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9757751226425171,
+                    "position": [
+                        0.013347798158065416,
+                        -0.0803038141457364,
+                        0.05246798795997165
+                    ],
+                    "orientation": {
+                        "w": 0.3054855028153494,
+                        "xyz": [
+                            -0.5901101900959738,
+                            -0.6545966836946067,
+                            -0.3604882145238174
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9684234857559204,
+                    "position": [
+                        0.06748388813866768,
+                        0.09039864328224212,
+                        -0.0039258596079889685
+                    ],
+                    "orientation": {
+                        "w": 0.5958485865066898,
+                        "xyz": [
+                            0.31452514640039775,
+                            -0.6114389496725631,
+                            0.4149467496716907
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9666528701782227,
+                    "position": [
+                        0.06958716468943749,
+                        0.07709748682100326,
+                        0.04080439833342098
+                    ],
+                    "orientation": {
+                        "w": 0.5052041082470473,
+                        "xyz": [
+                            0.49075882519368225,
+                            -0.6796823940765556,
+                            0.2048326821754386
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9666404128074646,
+                    "position": [
+                        0.061553609688417055,
+                        -0.07959913078229874,
+                        0.01733848368166946
+                    ],
+                    "orientation": {
+                        "w": 0.2952984983575425,
+                        "xyz": [
+                            -0.6848051468687072,
+                            0.3619923761290015,
+                            0.5592872493758356
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9663382172584534,
+                    "position": [
+                        0.11723981903924141,
+                        0.04989820357877761,
+                        0.005451964301755652
+                    ],
+                    "orientation": {
+                        "w": 0.6725108636756737,
+                        "xyz": [
+                            0.2608417254077344,
+                            -0.6828002166901029,
+                            0.11608013013631532
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blade assembly",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "peel food skin",
+                "provide cutting edge",
+                "shave thin strips",
+                "contact produce surface"
+            ],
+            "semantic_description": "Thin narrow metal peeling blade assembly spanning the head, appearing dark to silver depending on view, with a smooth reflective finish and small side supports connecting it to the frame.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "brand marking",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "identify brand",
+                "provide visual labeling"
+            ],
+            "semantic_description": "Small printed brand text on the upper portion of the white handle surface, appearing red-orange and narrow, aligned along the handle length.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bc01c3b0c8cc5ff61f2a99e68acdf38daebdd023f69aead7b9ed882cca5f9a7
+size 3786820

dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/peeler_030.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>