Add asset kitchen_supplies/cutting_tools/7e35bc198bdb5d33bd4c06a13f4f0591

.gitattributes

@@ -7015,4 +7015,4 @@ dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/affordan
 dataset/kitchen_supplies/cutting_tools/76d0aa48cb2a5a37b4b707cf6c462760/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/7c22110adbfa55bfa6ce194ecb79b636/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/84a108c5f2ae5bacb970be066e49d0d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/7e35bc198bdb5d33bd4c06a13f4f0591/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/7e35bc198bdb5d33bd4c06a13f4f0591/affordance/affordance_annot.json

@@ -0,0 +1,219 @@
+{
+    "affordances": [
+        {
+            "part_name": "handles",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp both handles together to squeeze the garlic press during use",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp one handle to pick up or reposition the garlic press",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the handles apart to stabilize the tool while loading a clove into the basket",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide primary handhold",
+                "apply squeezing force",
+                "open and close the press",
+                "support tool manipulation"
+            ],
+            "semantic_description": "Two elongated handles forming the main grip areas of the garlic press. Each handle has a silver metal structure with soft grip inserts: one side appears dark gray to black and the opposite side orange, with smooth matte surfaces and rounded ends with hanging holes.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9833016991615295,
+                    "position": [
+                        0.01271787891164422,
+                        0.004282660109311109,
+                        -0.11266969051212072
+                    ],
+                    "orientation": {
+                        "w": 0.7100746867012231,
+                        "xyz": [
+                            0.041807345526799496,
+                            0.026834823285194376,
+                            0.7023716803982166
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9823362231254578,
+                    "position": [
+                        0.02185115497559309,
+                        -0.004909377286821837,
+                        -0.11269136425107718
+                    ],
+                    "orientation": {
+                        "w": 0.7065294979030566,
+                        "xyz": [
+                            0.017284195973973467,
+                            0.027509608352570436,
+                            0.7069374417943044
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9821571111679077,
+                    "position": [
+                        0.01585590187460184,
+                        -0.0012128469279559795,
+                        -0.1095840772613883
+                    ],
+                    "orientation": {
+                        "w": 0.7015208976518003,
+                        "xyz": [
+                            0.02114651742747202,
+                            0.022812939103447616,
+                            0.7119696796689904
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9817432165145874,
+                    "position": [
+                        0.12461380567401648,
+                        -0.0003847112566290889,
+                        -0.022373848594725132
+                    ],
+                    "orientation": {
+                        "w": 0.5422066539509866,
+                        "xyz": [
+                            -0.4572252916925504,
+                            -0.4685859879668639,
+                            0.526672715193274
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9810041785240173,
+                    "position": [
+                        0.09790006931871176,
+                        -0.007775366513669724,
+                        -0.0794566785916686
+                    ],
+                    "orientation": {
+                        "w": 0.5902039139319889,
+                        "xyz": [
+                            0.29853103407540843,
+                            -0.30350179501101127,
+                            -0.6858755150158974
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9804776310920715,
+                    "position": [
+                        0.018604394048452377,
+                        -0.004844954444706673,
+                        -0.11269259359687567
+                    ],
+                    "orientation": {
+                        "w": 0.7048262850453079,
+                        "xyz": [
+                            0.00029420677804978306,
+                            0.008374862869319544,
+                            0.7093304469875253
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9804020524024963,
+                    "position": [
+                        0.11907499190419912,
+                        0.00268495737327612,
+                        0.030742899514734745
+                    ],
+                    "orientation": {
+                        "w": 0.39570334155847353,
+                        "xyz": [
+                            0.580680599197986,
+                            -0.6067044554412699,
+                            -0.3716700296529679
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "garlic bulb",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "example food item being pressed",
+                "occupy the press basket for demonstration"
+            ],
+            "semantic_description": "A whole garlic bulb resting on the press head, light pinkish white with faint purple tones and a pale green stem nub, papery textured and roughly round.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "press basket and plunger face",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the press head near the basket or plunger face to stabilize the tool during placement",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "grasp the head region to manipulate or orient the press while not squeezing the handles",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "hold the garlic clove in the perforated chamber",
+                "receive force from the plunger during squeezing",
+                "press garlic through the basket holes",
+                "form the pressing head of the tool"
+            ],
+            "semantic_description": "A round purple-masked region at the front of the press head corresponding to the circular chamber opening and plunger contact area. In the RGB views it appears as silver metal, smooth and slightly reflective, recessed within the cylindrical head at the end of the garlic press.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.7398789525032043,
+                    "position": [
+                        0.05876158457249403,
+                        -0.09168329296880984,
+                        -0.013485011644661427
+                    ],
+                    "orientation": {
+                        "w": 0.6474582307081386,
+                        "xyz": [
+                            -0.3770431853645504,
+                            -0.5694770778843831,
+                            -0.3381303500467008
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.7327439785003662,
+                    "position": [
+                        0.05778638552874327,
+                        -0.08639878241592669,
+                        -0.009535976685583591
+                    ],
+                    "orientation": {
+                        "w": 0.6359740970780456,
+                        "xyz": [
+                            -0.3674584237993818,
+                            -0.5851588334701078,
+                            -0.3436573791387885
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Purple part description and function are inaccurate; mask shows lower cup, not basket and plunger face."
+    }
+}

dataset/kitchen_supplies/cutting_tools/7e35bc198bdb5d33bd4c06a13f4f0591/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3050b79381ead8659d92947115870eb2dad8b3f213667957d4a05fce08871062
+size 3783808

dataset/kitchen_supplies/cutting_tools/7e35bc198bdb5d33bd4c06a13f4f0591/garlic_press_011.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>NO: {"summary":"Most functional parts are merged; garlic, basket, chamber, and handles share one color.","merge_groups":[]}</PartSegChecker>