Add asset kitchen_supplies/cutting_tools/3f5c51a176ec5faaa20087994f0506f9

.gitattributes

@@ -8393,3 +8393,4 @@ dataset/kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61/affordan
 dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/38b3e11d48b55ffc88b68823ff7e67c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/3f5c51a176ec5faaa20087994f0506f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/3f5c51a176ec5faaa20087994f0506f9/affordance/affordance_annot.json

@@ -0,0 +1,176 @@
+{
+    "affordances": [
+        {
+            "part_name": "handles",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the black padded handles to pick up and reposition the garlic press",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold one handle while opening the tool at the hinge",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grip both handles together to squeeze the press during use",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "provide the main hand grip",
+                "transmit squeezing force",
+                "open and close the press",
+                "support tool manipulation",
+                "stabilize during pressing"
+            ],
+            "semantic_description": "Two elongated metal handles forming the lever arms, each covered at the ends with black rubberized grips. The handles are silver metal with a smooth finish and extend rearward from the hinge area.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9439930319786072,
+                    "position": [
+                        -0.04974943958222866,
+                        0.0036101245423196815,
+                        0.09986531501635909
+                    ],
+                    "orientation": {
+                        "w": 0.20972471524182876,
+                        "xyz": [
+                            0.6631792128371985,
+                            0.6903265983485973,
+                            0.19914332298578874
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.940704882144928,
+                    "position": [
+                        -0.04787265323102474,
+                        0.0014289102618931793,
+                        0.0993142775259912
+                    ],
+                    "orientation": {
+                        "w": 0.18341045390941071,
+                        "xyz": [
+                            0.6713974626537134,
+                            0.6891820901385262,
+                            0.2015294002650544
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9372046589851379,
+                    "position": [
+                        -0.04852733574807644,
+                        -0.002560077038651798,
+                        0.10082155233249068
+                    ],
+                    "orientation": {
+                        "w": 0.19349157997466848,
+                        "xyz": [
+                            0.6708637988392507,
+                            0.6837275662521753,
+                            0.21217772510976055
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9358277916908264,
+                    "position": [
+                        -0.00015385961160063744,
+                        -0.0021475355970324017,
+                        0.11651717638596892
+                    ],
+                    "orientation": {
+                        "w": 0.03154488817574151,
+                        "xyz": [
+                            -0.7210748028667956,
+                            0.6915732384714021,
+                            -0.027973282445377574
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9288620352745056,
+                    "position": [
+                        0.03918075002729893,
+                        0.005921379393839743,
+                        0.11150122946128249
+                    ],
+                    "orientation": {
+                        "w": 0.1354677382241509,
+                        "xyz": [
+                            0.7167613864527981,
+                            -0.6779654165687552,
+                            -0.09090929945527963
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "press basket and chamber head",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the head near the basket to stabilize the tool while loading garlic",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the basket area briefly for short-range reorientation on a work surface",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "hold garlic cloves",
+                "extrude garlic through perforations",
+                "receive pressing force",
+                "form the working head",
+                "guide crushed garlic output"
+            ],
+            "semantic_description": "A compact silver metal working head at the front of the tool, including the rounded pressing chamber and a cylindrical basket with many perforation holes around its body. It has a smooth reflective metallic finish and sits adjacent to the hinge.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9589247107505798,
+                    "position": [
+                        -0.012950766831636429,
+                        0.0051192526807426475,
+                        -0.10126932198181748
+                    ],
+                    "orientation": {
+                        "w": 0.6832384415694372,
+                        "xyz": [
+                            0.010713389447175705,
+                            -0.002465621424248665,
+                            0.7301125775928753
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9513963460922241,
+                    "position": [
+                        -0.0050638457760214806,
+                        -0.0003410523713682778,
+                        -0.1047567748464644
+                    ],
+                    "orientation": {
+                        "w": 0.702885749430769,
+                        "xyz": [
+                            -0.012247422729613553,
+                            -0.0022743378685922133,
+                            0.7111936805616933
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue part description misidentifies head geometry and function; mask includes plunger/head, not perforated basket chamber only."
+    }
+}

dataset/kitchen_supplies/cutting_tools/3f5c51a176ec5faaa20087994f0506f9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e71127a17b602fc5e98baf3667f4d342210afb74e4013b040e2de0edcf4518ee
+size 3780824

dataset/kitchen_supplies/cutting_tools/3f5c51a176ec5faaa20087994f0506f9/garlic_press_009.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>