Add asset kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f

.gitattributes

@@ -8380,3 +8380,4 @@ dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/affordan
 dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/158d7126bc085825b954c21242c9f5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/affordance/affordance_annot.json

@@ -0,0 +1,212 @@
+{
+    "affordances": [
+        {
+            "part_name": "main handle and body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main handle/body to pick up and reposition the garlic rocker press",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle while aligning the press over garlic on a cutting board",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "stabilize the body during pressing or while scraping out garlic residue",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide primary grip",
+                "support rocking/pressing force",
+                "connect handle to press head",
+                "support the pressing chamber"
+            ],
+            "semantic_description": "Large turquoise plastic main frame with an open loop handle and integrated cup-shaped press body, matte and smooth, forming most of the tool.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9791531562805176,
+                    "position": [
+                        0.011162785638589412,
+                        -0.009588866436388344,
+                        0.09467524939100258
+                    ],
+                    "orientation": {
+                        "w": 0.05142786721187353,
+                        "xyz": [
+                            0.6810411429503658,
+                            -0.7238692767325575,
+                            -0.09773129634657174
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9789384603500366,
+                    "position": [
+                        -0.0192645454662852,
+                        -0.009190798678901047,
+                        0.09778932385961525
+                    ],
+                    "orientation": {
+                        "w": 0.047249078433061684,
+                        "xyz": [
+                            -0.7168397720729791,
+                            0.6954280366524007,
+                            0.016973850458070355
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9779390692710876,
+                    "position": [
+                        -0.015342786151450127,
+                        -0.006729787623044103,
+                        0.09978637003223412
+                    ],
+                    "orientation": {
+                        "w": 0.03066793403779524,
+                        "xyz": [
+                            -0.7213515074636706,
+                            0.6915027216656213,
+                            0.02314014759636932
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9769468903541565,
+                    "position": [
+                        -0.019372172828298062,
+                        0.004050308198202401,
+                        -0.10492141640861519
+                    ],
+                    "orientation": {
+                        "w": 0.7047199454044046,
+                        "xyz": [
+                            0.011977598232135598,
+                            0.03452736149378788,
+                            -0.7085437156577424
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9766828417778015,
+                    "position": [
+                        -0.0019923413055948913,
+                        -0.01499100582441315,
+                        0.09461644195835106
+                    ],
+                    "orientation": {
+                        "w": 0.08196359469008306,
+                        "xyz": [
+                            -0.7046624965669314,
+                            -0.704764901691091,
+                            -0.006258468014297121
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.976389467716217,
+                    "position": [
+                        0.004265401803422719,
+                        0.006631399563048035,
+                        -0.100747757620411
+                    ],
+                    "orientation": {
+                        "w": 0.704294534399256,
+                        "xyz": [
+                            0.0720967804166785,
+                            -0.025523487185333926,
+                            -0.7057760371894077
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "perforated pressing basket",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "extrude crushed garlic",
+                "provide perforated pressing surface",
+                "allow garlic to pass through holes"
+            ],
+            "semantic_description": "Small circular silver metal perforated insert at the pressing end, reflective and recessed within the head opening.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "press cup rim",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define the press opening",
+                "contact and compress garlic against the perforated basket",
+                "help guide material into the pressing area"
+            ],
+            "semantic_description": "Rounded turquoise plastic circular pressing face/rim around the perforated insert, smooth and matte, visible as a ring from top views and as an oval edge from angled views.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "press arm",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hold the small press arm while opening or positioning it before pressing",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "manipulate the arm back into place after loading or cleaning",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "carry the pressing plunger",
+                "swing on the hinge",
+                "transmit force into the press head"
+            ],
+            "semantic_description": "Small turquoise plastic hinged arm mounted beside the press head, smooth and matte, projecting above the basket with a compact rectangular loop-like form.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect moving parts",
+                "act as hinge axle",
+                "enable rotation"
+            ],
+            "semantic_description": "Tiny silver metal pin heads on both sides of the hinge, glossy and reflective, appearing as small round fasteners.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "thumb pad insert",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide thumb contact area",
+                "improve small-scale control of the press arm",
+                "add contrasting grip detail"
+            ],
+            "semantic_description": "Small pink-red rectangular insert on top of the hinged press arm, smooth and likely plastic, located near the outer end.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part functions/descriptions mismatch object; blue part is outer rim/base, not compressing face, and red insert is not clearly a thumb pad."
+    }
+}

dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322273f38147cdad6292d9b6a68fb153e0b8a88c08ed314608da1df579792640
+size 3780688

dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/garlic_press_010.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>