Add asset kitchen_supplies/cutting_tools/c2ef6437baa45d449e506dc48428e224

.gitattributes

@@ -7041,3 +7041,4 @@ dataset/kitchen_supplies/cutting_tools/b5d37efe1eca5fc695846d4c11fdfc1f/affordan
 dataset/kitchen_supplies/cutting_tools/b8d32bbff77f5f8b98aca723f1343d42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/bc11cf173de25f519fc68963532a490a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/bd5f944388ca514b9ef000b2c84481d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/c2ef6437baa45d449e506dc48428e224/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/c2ef6437baa45d449e506dc48428e224/affordance/affordance_annot.json

@@ -0,0 +1,258 @@
+{
+    "affordances": [
+        {
+            "part_name": "handles",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp both handles together to squeeze and operate the garlic press",
+                    "confidence": 0.99
+                },
+                {
+                    "scenario": "grasp one or both handles to pick up and reposition the press",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the handles to stabilize the tool while opening, loading, or cleaning",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide primary handhold",
+                "apply squeezing force",
+                "open and close the press",
+                "support manipulation"
+            ],
+            "semantic_description": "Two elongated ergonomic handles with dark gray rubberized grip panels and orange textured undersides/end accents, attached to the silver metal press body.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle end insert",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide hanging-hole area",
+                "mark handle end area",
+                "add localized soft-touch grip detail"
+            ],
+            "semantic_description": "A small orange-red oval insert near the end of each handle, slightly recessed into the dark gray grip surface, with a smooth rubbery appearance.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "press head frame",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the metal head to pick up the tool when the handles are obstructed",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the head carefully to stabilize the press during rinsing or inspection",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "support pressing mechanism",
+                "house the garlic chamber",
+                "connect handles and hinge",
+                "transfer squeezing force"
+            ],
+            "semantic_description": "The main silver metallic frame at the front of the tool, with a smooth reflective finish and compact bulky form around the hinge and chamber housing.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9681698679924011,
+                    "position": [
+                        0.03335200482979417,
+                        -0.001035541521559935,
+                        0.11408239486627281
+                    ],
+                    "orientation": {
+                        "w": 0.12388206192076075,
+                        "xyz": [
+                            0.7137695974492155,
+                            -0.6783487149447638,
+                            -0.1225937087465469
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9673768281936646,
+                    "position": [
+                        0.01883256109431386,
+                        0.003908987047907431,
+                        0.1173678922932595
+                    ],
+                    "orientation": {
+                        "w": 0.09027697893739711,
+                        "xyz": [
+                            0.7112791974778012,
+                            -0.6946860801101428,
+                            -0.05782058811942425
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9661729335784912,
+                    "position": [
+                        0.037799004931002855,
+                        -0.005626059479254764,
+                        -0.1043854218441993
+                    ],
+                    "orientation": {
+                        "w": 0.7003981682979002,
+                        "xyz": [
+                            0.10407303668686665,
+                            -0.1280413944549249,
+                            -0.694418181059337
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9653176069259644,
+                    "position": [
+                        0.056452461052685976,
+                        -0.00013058570766588673,
+                        0.10403138282708824
+                    ],
+                    "orientation": {
+                        "w": 0.19244470736322147,
+                        "xyz": [
+                            -0.6542543781057891,
+                            -0.7095373028543492,
+                            0.17740648013944443
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9644656777381897,
+                    "position": [
+                        -0.004705089144408703,
+                        -0.0018995053760590963,
+                        0.1210145044606179
+                    ],
+                    "orientation": {
+                        "w": 0.037911222908005596,
+                        "xyz": [
+                            -0.7052223992377789,
+                            0.7076414293158299,
+                            -0.021626703557880222
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9642640352249146,
+                    "position": [
+                        0.02428806060925126,
+                        -0.02201370370312361,
+                        0.11455223592929542
+                    ],
+                    "orientation": {
+                        "w": 0.016012419705444526,
+                        "xyz": [
+                            0.7023186951669793,
+                            -0.6984662656675652,
+                            -0.13651713650137234
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9631847143173218,
+                    "position": [
+                        0.016097604762762785,
+                        0.006085576613259036,
+                        0.11902013304643333
+                    ],
+                    "orientation": {
+                        "w": 0.04954616133021387,
+                        "xyz": [
+                            -0.690527467126853,
+                            -0.7185404656786051,
+                            0.06645746175702798
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9625533223152161,
+                    "position": [
+                        0.00816047890111804,
+                        -0.012442793107766192,
+                        -0.1084917199332267
+                    ],
+                    "orientation": {
+                        "w": 0.7153232638043235,
+                        "xyz": [
+                            -0.03849001997195548,
+                            0.02949180524859729,
+                            0.6971093027969627
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "garlic chamber wall",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the chamber opening",
+                "hold garlic clove before pressing",
+                "surround the internal pressing area"
+            ],
+            "semantic_description": "A yellow-green ring-shaped inner wall visible around the top opening of the cylindrical garlic chamber at the front of the press.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cleaning pin plate",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "clear chamber holes",
+                "push residue out",
+                "aid cleaning after pressing"
+            ],
+            "semantic_description": "A dark blue circular array of many short cleaning pins visible inside the chamber area, aligned with the perforated press basket.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom cup base",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the bottom of the chamber",
+                "form the exterior base of the cup",
+                "support the chamber structure"
+            ],
+            "semantic_description": "A large circular black or dark gray base on the underside of the cylindrical chamber, with a smooth matte appearance.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side printed label",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide branding",
+                "show product information"
+            ],
+            "semantic_description": "A small printed marking on the side of the silver chamber body, appearing as dark text/graphics on the light metal surface.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions use mask colors as real colors; one part mislabeled as side printed label instead of side vent/slot area."
+    }
+}

dataset/kitchen_supplies/cutting_tools/c2ef6437baa45d449e506dc48428e224/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2e0b71ac2ff6f11ca911c624b04708e8514f60c93559f2fedd433dd602d129b
+size 3801884

dataset/kitchen_supplies/cutting_tools/c2ef6437baa45d449e506dc48428e224/garlic_press_017.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>