Add asset kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34

.gitattributes

@@ -6993,3 +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/4ae0b70eecb55315a060d64a00c7eb34/affordance/affordance_annot.json

@@ -0,0 +1,327 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper handle",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper handle to pick up and reposition the garlic press",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the upper handle while aligning the press over food or a bowl",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "stabilize one side of the tool while the other handle is actuated",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold",
+                "transmit squeezing force",
+                "open and close the press",
+                "support tool positioning"
+            ],
+            "semantic_description": "Long light gray metal handle with a mostly matte to satin finish, smooth hard surface, dark rubber-like inlay, and a slim gently curved shape extending from the pressing head.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.8964763283729553,
+                    "position": [
+                        0.06895658001303673,
+                        0.054984527407214046,
+                        0.09452956356108189
+                    ],
+                    "orientation": {
+                        "w": 0.3200833128069421,
+                        "xyz": [
+                            0.6784325299616272,
+                            -0.6593926652898082,
+                            0.049772362957786594
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.48490071296691895,
+                    "position": [
+                        0.09794457629323006,
+                        -0.00717701599933207,
+                        0.0917381439357996
+                    ],
+                    "orientation": {
+                        "w": 0.1560679341744057,
+                        "xyz": [
+                            0.7342995657750349,
+                            -0.5908893506082341,
+                            -0.2954601884567666
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9550583362579346,
+                    "position": [
+                        0.012518111150711775,
+                        0.0044919466599822044,
+                        0.10761343128979206
+                    ],
+                    "orientation": {
+                        "w": 0.09137700198585061,
+                        "xyz": [
+                            -0.7532496026819882,
+                            0.6476077842172971,
+                            -0.06978135416189406
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.9454267621040344,
+                    "position": [
+                        0.022607874125242233,
+                        -0.0009929821826517582,
+                        0.11132521368563175
+                    ],
+                    "orientation": {
+                        "w": 0.03687423295176094,
+                        "xyz": [
+                            -0.7658959160349907,
+                            0.6418331407494359,
+                            -0.009693099651638731
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9335755705833435,
+                    "position": [
+                        0.04657664895057678,
+                        0.006457125069573522,
+                        0.10103638656437397
+                    ],
+                    "orientation": {
+                        "w": 0.132412423511628,
+                        "xyz": [
+                            -0.6348553131979395,
+                            -0.7468249705518625,
+                            0.14723499843560825
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower handle to pick up and reposition the garlic press",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the lower handle while squeezing against the opposite handle",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "stabilize the tool from below during pressing",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold",
+                "transmit squeezing force",
+                "support leverage",
+                "support tool positioning"
+            ],
+            "semantic_description": "Long light gray metal handle with a matte-satin finish, smooth hard surface, dark rubber-like grip insert, and a slim elongated form on the opposite side of the hinge.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.958986759185791,
+                    "position": [
+                        -0.0013313596136868,
+                        -0.0018726438283920288,
+                        -0.10088167153298855
+                    ],
+                    "orientation": {
+                        "w": 0.6433823517173709,
+                        "xyz": [
+                            0.0009306649713750147,
+                            0.011276728934254243,
+                            0.7654613763906577
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9491400718688965,
+                    "position": [
+                        -0.0029529398307204247,
+                        0.004670285619795322,
+                        -0.10093672387301922
+                    ],
+                    "orientation": {
+                        "w": 0.6416171697378398,
+                        "xyz": [
+                            0.008899218473575164,
+                            0.01494516607993257,
+                            0.7668277860243506
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9391888976097107,
+                    "position": [
+                        -0.0393863245844841,
+                        -0.002302269684150815,
+                        -0.09074137918651104
+                    ],
+                    "orientation": {
+                        "w": 0.6368324870342241,
+                        "xyz": [
+                            0.15939131831421122,
+                            0.1727975462494522,
+                            0.73428863474388
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9230849146842957,
+                    "position": [
+                        -0.030265092849731445,
+                        0.03931776317767799,
+                        -0.08612085692584515
+                    ],
+                    "orientation": {
+                        "w": 0.6349660286324152,
+                        "xyz": [
+                            0.2753294406957948,
+                            -0.040716112476579136,
+                            0.7206622230655042
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9561946988105774,
+                    "position": [
+                        0.0024400081019848585,
+                        0.007282826816663146,
+                        0.09696636535227299
+                    ],
+                    "orientation": {
+                        "w": 0.021094142402861345,
+                        "xyz": [
+                            0.6519149595654192,
+                            0.7579420993591787,
+                            -0.00925724959727055
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "press basket",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain garlic cloves",
+                "support pressing",
+                "guide extruded garlic",
+                "form the pressing chamber"
+            ],
+            "semantic_description": "Cup-shaped light gray metal chamber at the tool head with a perforated side wall, matte to slightly reflective finish, hard smooth feel, and a medium-sized rounded form.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge collar",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect moving parts",
+                "enable pivoting",
+                "align the press head",
+                "support force transfer"
+            ],
+            "semantic_description": "Rounded light gray metal collar around the top of the press head with a smooth hard surface and satin finish, positioned at the joint where the handles pivot.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "perforated pressing face",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide extrusion holes",
+                "support pressing output",
+                "shape minced garlic as it exits",
+                "interface with the pressing mechanism"
+            ],
+            "semantic_description": "Small circular perforated metal face visible at the opening of the press head, light gray with many fine holes and a slightly reflective smooth surface.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper grip pad",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "improve grip friction",
+                "provide finger comfort",
+                "indicate handle contact area"
+            ],
+            "semantic_description": "Dark gray to black rubber-like inset with a matte soft-touch surface, elongated oval shape, and medium size on the upper handle for traction.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower grip pad",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "improve grip friction",
+                "provide finger comfort",
+                "indicate handle contact area"
+            ],
+            "semantic_description": "Dark gray to black rubber-like inset with a matte soft-touch surface, elongated oval shape, and medium size on the lower handle for traction.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper end pad",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "improve grip friction",
+                "provide finger comfort",
+                "mark the handle end contact area"
+            ],
+            "semantic_description": "Small dark gray rubber-like inset with a matte finish near the end region of the upper handle, shaped as a narrow rounded patch.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower end pad",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "improve grip friction",
+                "provide finger comfort",
+                "mark the handle end contact area"
+            ],
+            "semantic_description": "Small dark gray rubber-like inset with a matte finish near the end region of the lower handle, shaped as a narrow rounded patch.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ab6071b3fd0e29f457cf9846d982d64dbbb64805c7930ff895039773f58b32d
+size 3786128

dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/garlic_press_005.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>