Add asset kitchen_supplies/cutting_tools/f0a38e858e795fbfb1f35a7fb93fd131

.gitattributes

@@ -7056,3 +7056,4 @@ dataset/kitchen_supplies/cutting_tools/e2b7bbd670bc5533969440f1afcb397b/affordan
 dataset/kitchen_supplies/cutting_tools/eba1fcfcd3e95716aa9f15e29646d04c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ef490b5b26dc507f9e55dbb53a8f2e3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/f0a38e858e795fbfb1f35a7fb93fd131/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/f0a38e858e795fbfb1f35a7fb93fd131/affordance/affordance_annot.json

@@ -0,0 +1,244 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper handle grip",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper handle to pick up and reposition the garlic press",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the upper handle while closing the press against the lower handle",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "stabilize the tool by pinching the upper handle during loading or cleaning",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide handhold",
+                "apply squeezing force",
+                "control opening and closing",
+                "stabilize the tool"
+            ],
+            "semantic_description": "Long slightly curved upper handle with a tan soft-grip insert and dark gray to black rubberized end over a silver metal core, matte on the grip surfaces and smoother on the metal portions.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower handle grip",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower handle to pick up and orient the garlic press",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the lower handle while squeezing the upper handle to crush garlic",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "secure the lower handle to steady the tool during loading or cleaning",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "provide handhold",
+                "apply counterforce",
+                "control squeezing motion",
+                "stabilize the press"
+            ],
+            "semantic_description": "Long slightly curved lower handle with a tan insert and dark gray to black rubberized tip over a metal core, shaped for grip and extending behind the pressing head.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper press arm frame",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rigid metal arm near the hinge for firm tool pickup",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "pinch the metal arm to reposition the press during maintenance or cleaning",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "transmit squeezing force",
+                "support the pressing plunger",
+                "connect handle to hinge",
+                "guide pressing motion"
+            ],
+            "semantic_description": "Bright silver metal upper arm with a smooth reflective finish and elongated cutouts, forming the rigid lever structure above the garlic chamber near the hinge.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.9492846131324768,
+                    "position": [
+                        0.07738030396285467,
+                        0.0037570250424323604,
+                        0.09458373649977148
+                    ],
+                    "orientation": {
+                        "w": 0.2235781182743764,
+                        "xyz": [
+                            0.701616245079578,
+                            -0.6480370251713241,
+                            -0.19441060587432685
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9420921206474304,
+                    "position": [
+                        0.09733738444629125,
+                        0.001706824332359247,
+                        0.07227689190767705
+                    ],
+                    "orientation": {
+                        "w": 0.294976638260585,
+                        "xyz": [
+                            -0.6315683373636697,
+                            -0.6392194092562768,
+                            0.32482112762292836
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9352881908416748,
+                    "position": [
+                        0.0664270862180274,
+                        -0.001647179902647622,
+                        0.09864474995993078
+                    ],
+                    "orientation": {
+                        "w": 0.1984889302220551,
+                        "xyz": [
+                            0.6998069480410509,
+                            -0.6617788267792524,
+                            -0.18144190386856718
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "garlic chamber cup",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the chamber body to stabilize the press while loading garlic",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the chamber body during cleaning or inspection",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "contain garlic cloves",
+                "support extrusion holes",
+                "receive pressing force",
+                "form the pressing head"
+            ],
+            "semantic_description": "Rounded cylindrical silver metal cup at the front of the tool with a smooth reflective finish and a perforated pressing face, forming the main chamber of the garlic press.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge collar",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect moving arms",
+                "provide pivot support",
+                "maintain alignment"
+            ],
+            "semantic_description": "Narrow ring-like metallic joint region at the transition between the handles and head, corresponding to the compact pivot area of the press.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pivot pin cap",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain hinge pin",
+                "secure joint hardware",
+                "mark pivot endpoint"
+            ],
+            "semantic_description": "Tiny round metallic cap at the exposed outer end of the hinge, smooth and reflective, visible as the endpoint of the pivot hardware.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner pressing linkage",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "push the plunger into the chamber",
+                "transmit force from the upper arm",
+                "compress garlic inside the cup"
+            ],
+            "semantic_description": "Small internal silver metal linkage element visible inside the head near the chamber opening, hard and reflective, moving with the pressing mechanism during squeezing.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "logo mark",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brand marking",
+                "visual identification"
+            ],
+            "semantic_description": "Small engraved or printed brand logo on the outer side of the chamber cup, appearing dark gray on the silver metal surface and serving as a non-structural brand mark.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle end insert",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish handle end",
+                "cover fastener or hole",
+                "provide hanging-hole detail"
+            ],
+            "semantic_description": "Small oval dark insert at the end of the upper handle grip, flush with the black rubberized tip and visible as a small accent on the handle end.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner hinge spacer",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "space moving parts",
+                "support hinge motion",
+                "maintain internal alignment"
+            ],
+            "semantic_description": "Tiny light metallic internal spacer-like piece near the hinge and inner pressing mechanism, partially recessed within the head assembly and visible only in some views.",
+            "id": 15,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and descriptions mismatch masks/images; handles/chamber colors and tiny parts are incorrect or duplicated."
+    }
+}

dataset/kitchen_supplies/cutting_tools/f0a38e858e795fbfb1f35a7fb93fd131/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8ced4df486224edae63352a4d2e8df1e54adee7b10154bbbcad876ebedf6772
+size 3760188

dataset/kitchen_supplies/cutting_tools/f0a38e858e795fbfb1f35a7fb93fd131/garlic_press_012.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>