Add asset kitchen_supplies/cutting_tools/43cd0e7d919d576a9e990596be9f76fb

.gitattributes

@@ -6993,4 +6993,4 @@ dataset/home_appliances/electrical_appliances/0dab90111dd958ae9ef67f9fadfb94fd/a
 dataset/kitchen_supplies/cutting_tools/41666f545b8c5f9dadca19be7494d2b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4904292ccc6c5a3f9041dfbca8b8ff90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/43cd0e7d919d576a9e990596be9f76fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/43cd0e7d919d576a9e990596be9f76fb/affordance/affordance_annot.json

@@ -0,0 +1,191 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper handle grip",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one handle grip to pick up and reposition the garlic press",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the upper handle grip while closing the press against the other handle",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "stabilize the tool by pinching the upper handle grip during loading",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold",
+                "apply squeezing leverage",
+                "help open and close the press",
+                "stabilize the tool during use"
+            ],
+            "semantic_description": "Long dark gray to black handle grip, likely rubber or coated plastic, with a matte smooth slightly cushioned texture on the upper lever of the metal garlic press.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_11": {
+                    "confidence": 0.8498377203941345,
+                    "position": [
+                        -0.04126606587669812,
+                        -0.09861584706231952,
+                        0.12290696508716792
+                    ],
+                    "orientation": {
+                        "w": 0.18914697292871757,
+                        "xyz": [
+                            -0.873507640694011,
+                            -0.3180312714849863,
+                            -0.316328839404074
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.845740020275116,
+                    "position": [
+                        -0.033369195502018556,
+                        -0.07681856257840991,
+                        0.12890484638046473
+                    ],
+                    "orientation": {
+                        "w": 0.17552604422747964,
+                        "xyz": [
+                            -0.9418686831301364,
+                            -0.15798346570653682,
+                            -0.23898789948427787
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8361550569534302,
+                    "position": [
+                        0.019419719610596076,
+                        -0.06119494093582034,
+                        0.1364117533667013
+                    ],
+                    "orientation": {
+                        "w": 0.13562838744972153,
+                        "xyz": [
+                            -0.9844438780123091,
+                            0.034353471181199,
+                            0.10627808136994481
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower handle grip",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one handle grip to pick up and reposition the garlic press",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the lower handle grip while closing the press against the other handle",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "brace the lower handle grip to stabilize the press on a work surface",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold",
+                "apply counterforce while squeezing",
+                "help open and close the press",
+                "stabilize the tool during pressing"
+            ],
+            "semantic_description": "Long dark gray to black handle grip, likely rubber or coated plastic, with a matte smooth slightly cushioned texture on the lower lever opposite the other handle.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "press head",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the metal head to pick up the press when handles are inaccessible",
+                    "confidence": 0.53
+                },
+                {
+                    "scenario": "hold the head to orient the basket under a camera or toward a bowl",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "stabilize the head while loading a garlic clove into the chamber",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "contain garlic clove",
+                "press garlic through holes",
+                "connect the two handles",
+                "provide hinge and pressing mechanism",
+                "guide tool orientation"
+            ],
+            "semantic_description": "Bulky silver metal press head with a reflective smooth hard finish, rounded cylindrical basket and perforated face, located at the junction of the two handles.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.9779622554779053,
+                    "position": [
+                        -0.015020313527202234,
+                        0.009759883396327496,
+                        -0.12106813781429082
+                    ],
+                    "orientation": {
+                        "w": 0.048146414352800544,
+                        "xyz": [
+                            0.083505197279811,
+                            0.04148780692343346,
+                            0.9944785400846582
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9771022200584412,
+                    "position": [
+                        -0.005231175891822204,
+                        0.007818124955520034,
+                        -0.11970903270412236
+                    ],
+                    "orientation": {
+                        "w": 0.0447707219013246,
+                        "xyz": [
+                            0.03281777070462134,
+                            0.053903954313812896,
+                            0.997001975973843
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.9769416451454163,
+                    "position": [
+                        -0.00020973070058971643,
+                        0.09518577950075269,
+                        -0.09014453284908086
+                    ],
+                    "orientation": {
+                        "w": 0.06758560754093206,
+                        "xyz": [
+                            0.03383115058900813,
+                            -0.4092875093612316,
+                            0.9092696924367527
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/43cd0e7d919d576a9e990596be9f76fb/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2f0d7b8189d306a3c7d5b35fb50de0b90fb010919a6ebdf4fd83d3893513bb9
+size 74506452

dataset/kitchen_supplies/cutting_tools/43cd0e7d919d576a9e990596be9f76fb/garlic_press_001.urdf

@@ -52,6 +52,7 @@
                <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>