Add asset kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874

.gitattributes

@@ -8376,3 +8376,4 @@ dataset/kitchen_supplies/cookware/fe20d183322d54fa93fc1aac42ec50b8/affordance/me
 dataset/kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/affordance/affordance_annot.json

@@ -0,0 +1,208 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper handle to open or close the garlic press",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the upper handle to reposition the tool on a work surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "pinch this handle together with the lower handle to carry or operate the press",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "provide handhold for squeezing",
+                "act as pressing lever",
+                "open and close the press",
+                "help control tool orientation"
+            ],
+            "semantic_description": "Long olive-green metal handle with a matte smooth hard surface and rounded tip, medium width and slightly tapered, extending from the hinge beside the press head.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "press head and lower handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower handle to open or close the garlic press",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp around the head and lower handle to pick up the tool from the side",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the head area to stabilize the press while loading garlic",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "house the pressing chamber",
+                "support hinge connection",
+                "provide opposing lever",
+                "transmit squeezing force",
+                "stabilize during pressing"
+            ],
+            "semantic_description": "Olive-green metal assembly with a matte smooth hard finish, consisting of the rounded pressing head and the longer lower handle, with a recessed chamber and perforated pressing face near the hinge.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.9838716983795166,
+                    "position": [
+                        0.05909111522487365,
+                        0.002923813895904459,
+                        0.10041062394157052
+                    ],
+                    "orientation": {
+                        "w": 0.12183737740536547,
+                        "xyz": [
+                            -0.6680457806146953,
+                            -0.7220371616827246,
+                            0.13241157660506828
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9827386736869812,
+                    "position": [
+                        0.06426598303369246,
+                        -0.01294488248822745,
+                        0.09982307115569711
+                    ],
+                    "orientation": {
+                        "w": 0.11192989563547849,
+                        "xyz": [
+                            0.6825895581795028,
+                            -0.7004508204197955,
+                            -0.17581763762654
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.9814972877502441,
+                    "position": [
+                        0.06354106389335357,
+                        -0.010669643743312918,
+                        0.10065517434850335
+                    ],
+                    "orientation": {
+                        "w": 0.15993090624136444,
+                        "xyz": [
+                            -0.675376641130269,
+                            -0.7125680724139956,
+                            0.10264131731722208
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.980941653251648,
+                    "position": [
+                        0.04055487908772193,
+                        -0.01887182214704808,
+                        0.1070903823710978
+                    ],
+                    "orientation": {
+                        "w": 0.12123437903574255,
+                        "xyz": [
+                            -0.6673467636427569,
+                            -0.7347241303023239,
+                            0.011444419900101602
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9804225564002991,
+                    "position": [
+                        0.040526917058741674,
+                        -0.008871874524629675,
+                        0.10383538762107491
+                    ],
+                    "orientation": {
+                        "w": 0.10446037021278072,
+                        "xyz": [
+                            -0.6792096369548514,
+                            -0.7248879455413934,
+                            0.04795588109341011
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9804021716117859,
+                    "position": [
+                        0.05599170722416602,
+                        -0.003437980296439491,
+                        0.10588384279981256
+                    ],
+                    "orientation": {
+                        "w": 0.12916303412609054,
+                        "xyz": [
+                            -0.6789262698653872,
+                            -0.7150533669738938,
+                            0.10523646269859556
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9802266359329224,
+                    "position": [
+                        0.053033983189379796,
+                        -0.00511253833246883,
+                        0.10073914984241128
+                    ],
+                    "orientation": {
+                        "w": 0.10381349820229026,
+                        "xyz": [
+                            0.6915129577248235,
+                            -0.7027388171525705,
+                            -0.13111346901320214
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9800641536712646,
+                    "position": [
+                        0.05478627033880912,
+                        -0.009275741627789102,
+                        0.1026180968619883
+                    ],
+                    "orientation": {
+                        "w": 0.1510340705322955,
+                        "xyz": [
+                            -0.6872586134778561,
+                            -0.7036276812793093,
+                            0.09885541905450984
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pressing chamber holes",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form openings for extruding crushed garlic",
+                "define the perforated face of the chamber",
+                "allow garlic paste to pass through during squeezing"
+            ],
+            "semantic_description": "Small cluster of tiny perforation holes on the chamber face near the hinge, appearing as small orange-brown dots in the mask and as metallic holes on the olive-green press head in the RGB image.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f290c08ad9aa74b75876a3a35215fd61a50d625ff7e235a833e0f5f58c132f04
+size 3782812

dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/garlic_press_014.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>