Add asset kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4

.gitattributes

@@ -7021,3 +7021,4 @@ dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/affordan
 dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/8f8f41a0a15a5988ab9e5166a27faa0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/94c03725417052b3939b100980cd98ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/affordance/affordance_annot.json

@@ -0,0 +1,298 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper handle",
+            "mask_color": "Blue",
+            "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 closing the press against the lower handle",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "stabilize the tool by clamping the upper handle during loading or cleaning",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "apply squeezing leverage",
+                "open and close the press",
+                "support tool handling"
+            ],
+            "semantic_description": "A long white-coated handle with a smooth finish and rounded rectangular shape, forming one of the two main lever arms and attached at the hinge above the press head.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9233130812644958,
+                    "position": [
+                        0.06146130245178938,
+                        -0.023120379890315235,
+                        0.09891275921836495
+                    ],
+                    "orientation": {
+                        "w": 0.2619956328778951,
+                        "xyz": [
+                            -0.6412426021594233,
+                            -0.7113130092196217,
+                            0.11916382187412768
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.8723154664039612,
+                    "position": [
+                        -0.058016096241772175,
+                        0.02003984444309026,
+                        0.10569292912259698
+                    ],
+                    "orientation": {
+                        "w": 0.23680669907062765,
+                        "xyz": [
+                            0.6417990678565311,
+                            0.7272563823485494,
+                            0.0558094804407076
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower handle to pick up and orient the garlic press",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the lower handle while squeezing the upper handle to press garlic",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "use a gripper on the lower handle to stabilize the tool during loading",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "apply squeezing leverage",
+                "open and close the press",
+                "support tool handling"
+            ],
+            "semantic_description": "A long white-coated handle with a smooth finish and rounded rectangular profile, positioned below the hinge and connected to the press head assembly.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "press chamber body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the chamber body to stabilize the tool during loading or cleaning",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "pinch the chamber body to orient the head precisely near ingredients",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "hold garlic clove",
+                "support pressing head",
+                "guide extrusion direction",
+                "house the pressing area"
+            ],
+            "semantic_description": "A short silver cylindrical metal chamber body with a smooth satin finish at the head of the tool, where the garlic clove is loaded and compressed.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_50": {
+                    "confidence": 0.970033586025238,
+                    "position": [
+                        -0.01044805534183979,
+                        0.02573473670054227,
+                        -0.10254414519295096
+                    ],
+                    "orientation": {
+                        "w": 0.7092874603875358,
+                        "xyz": [
+                            0.12865151394267413,
+                            -0.033860885041295474,
+                            0.6922525023150714
+                        ]
+                    }
+                },
+                "grasp_51": {
+                    "confidence": 0.9691279530525208,
+                    "position": [
+                        -0.006916188634932041,
+                        0.012560066883452237,
+                        -0.10544162383303046
+                    ],
+                    "orientation": {
+                        "w": 0.7154203922928346,
+                        "xyz": [
+                            0.06082558603376509,
+                            -0.0017074142520113744,
+                            0.6960395068613471
+                        ]
+                    }
+                },
+                "grasp_55": {
+                    "confidence": 0.9684810638427734,
+                    "position": [
+                        -0.011966467835009098,
+                        0.004096230608411133,
+                        -0.10446874937042594
+                    ],
+                    "orientation": {
+                        "w": 0.7122150229096457,
+                        "xyz": [
+                            0.042045110745239214,
+                            0.027130089136873647,
+                            0.7001756408699601
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.9674497842788696,
+                    "position": [
+                        -0.0027046571485698223,
+                        0.011666251462884247,
+                        -0.1075908257625997
+                    ],
+                    "orientation": {
+                        "w": 0.718106812486412,
+                        "xyz": [
+                            0.019800832425734115,
+                            0.06213031668207403,
+                            -0.6928710967018609
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "press plate",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enter chamber during squeezing",
+                "compress garlic in the chamber",
+                "force material through the perforated face",
+                "complete pressing mechanism"
+            ],
+            "semantic_description": "A rounded rectangular silver metal pressing plate attached to the moving arm, sized to fit into the chamber and crush garlic when the handles close.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "neck collar",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect chamber to handle-side linkage",
+                "provide structural transition",
+                "maintain alignment"
+            ],
+            "semantic_description": "A narrow metallic collar around the neck near the press chamber, with a smooth satin finish and ring-like shape acting as a structural transition.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge pin",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "act as pivot axle",
+                "join moving parts",
+                "enable rotation"
+            ],
+            "semantic_description": "A small light-colored metal pin or cap at the hinge area, visible as a circular fastener that holds the pivot together.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hanger slot",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "allow hanging storage",
+                "form handle-end opening"
+            ],
+            "semantic_description": "A small elongated slot near the end of a handle, appearing as an opening in the otherwise smooth white-coated handle.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "perforated press face",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "extrude crushed garlic",
+                "define output holes",
+                "support pressing surface"
+            ],
+            "semantic_description": "A small perforated silver metal face at the front end of the chamber where pressed garlic exits.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "linkage bracket",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support hinge connection",
+                "attach pressing plate assembly to chamber",
+                "maintain mechanism alignment"
+            ],
+            "semantic_description": "A small silver metal structural linkage beneath the chamber, connecting the moving pressing assembly to the head.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "fastener head",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten hinge hardware",
+                "secure moving parts",
+                "maintain assembly integrity"
+            ],
+            "semantic_description": "A very small dark metallic fastener head near the hinge area, serving as a compact attachment point in the mechanism.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chamber rim",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define chamber opening",
+                "guide press plate fit",
+                "reinforce chamber edge"
+            ],
+            "semantic_description": "A thin metallic ring around the chamber opening with a smooth finish, marking the mouth where the press plate enters.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and descriptions mismatch masks/images; chamber body shape and multiple tiny hardware labels are incorrect or over-segmented."
+    }
+}

dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d5be27a5acdd2c3f1660595296229ad2a7f79438d0a4fe559d7e62a0a829564
+size 3791348

dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/garlic_press_016.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>