Add asset kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49

.gitattributes

@@ -8360,3 +8360,4 @@ dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/a
 dataset/kitchen_supplies/cookware/085767b890b05a918f616c253befc6f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/19ca115cb51359c9adcc0e4f0a6ce92c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/24294f45e60b5124a6c44800d8ce6066/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/affordance/affordance_annot.json

@@ -0,0 +1,170 @@
+{
+    "affordances": [
+        {
+            "part_name": "pot body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up the pot",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp around the rim and side to reposition the pot",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the body to stabilize the pot during placement",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "provide main structure",
+                "support lifting from the sides",
+                "protect contents"
+            ],
+            "semantic_description": "Large round gray pot body made of rigid plastic with a matte smooth surface, slightly tapered bucket-like shape, and two small opposing side tabs near the upper rim.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pot interior",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold contents",
+                "provide interior cavity",
+                "receive items or materials"
+            ],
+            "semantic_description": "Open circular interior cavity with a gray plastic inner surface, matte smooth finish, and broad shallow bowl-like space at the top of the pot.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pot base",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom edge to flip or reorient the empty pot",
+                    "confidence": 0.39
+                },
+                {
+                    "scenario": "hold the base while stabilizing the pot during inspection",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "support on flat surfaces",
+                "stabilize upright placement",
+                "provide bottom contact surface"
+            ],
+            "semantic_description": "Flat round gray bottom section of rigid plastic with a matte smooth finish, hard texture, and broad circular contact area centered under the pot.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.06492132693529129,
+                    "position": [
+                        0.04375122394412756,
+                        0.00787883996963501,
+                        -0.16831491887569427
+                    ],
+                    "orientation": {
+                        "w": 0.9917672408760511,
+                        "xyz": [
+                            0.0239787970339803,
+                            0.11046721346896038,
+                            0.060164374560960104
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.04190030321478844,
+                    "position": [
+                        -0.03934548515826464,
+                        -0.0006682421080768108,
+                        -0.16945597529411316
+                    ],
+                    "orientation": {
+                        "w": 0.1802299603927484,
+                        "xyz": [
+                            0.04753008778900341,
+                            0.053224904203013956,
+                            -0.9810327016487155
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.06970245391130447,
+                    "position": [
+                        0.021095634438097477,
+                        -0.06389974150806665,
+                        -0.15892307460308075
+                    ],
+                    "orientation": {
+                        "w": 0.7654854310051983,
+                        "xyz": [
+                            -0.09576820694985817,
+                            -0.1608134980117003,
+                            0.615629372523466
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.054499026387929916,
+                    "position": [
+                        -0.011517622508108616,
+                        0.03509899880737066,
+                        -0.16521956026554108
+                    ],
+                    "orientation": {
+                        "w": 0.6342466624662737,
+                        "xyz": [
+                            -0.1537764013189612,
+                            -0.012263208078306609,
+                            -0.7575840569041902
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.05446067452430725,
+                    "position": [
+                        0.05417207162827253,
+                        -0.00157684157602489,
+                        -0.16555799543857574
+                    ],
+                    "orientation": {
+                        "w": 0.993113356517151,
+                        "xyz": [
+                            -0.021123424314270594,
+                            0.07333044099640018,
+                            0.08889492941529228
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.02284032292664051,
+                    "position": [
+                        -0.04004341084510088,
+                        0.024076848290860653,
+                        -0.1596895009279251
+                    ],
+                    "orientation": {
+                        "w": 0.3705907496747069,
+                        "xyz": [
+                            0.02525308020082646,
+                            0.19618759488521997,
+                            -0.9074884053303723
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cookware/2bd52314a84d592eb034bdac7a362e49/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9b017a513e8af7076b142fe5415c818ceb52b877885610770dfbd937172d292
+size 1364360