Add asset kitchen_supplies/cookware/78a3e26aa34755f98766c893c89b8010

.gitattributes

@@ -8365,3 +8365,4 @@ dataset/kitchen_supplies/cookware/4e419c4622e25b79abd74c626a45c0e1/affordance/me
 dataset/kitchen_supplies/cookware/5b415060267d5d789a8dde5c6bc2145c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/508224b65d275347858bb78aa2457ea6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/6be74d72ab815c129c7e320874eb9126/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/78a3e26aa34755f98766c893c89b8010/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cookware/78a3e26aa34755f98766c893c89b8010/78a3e26aa34755f98766c893c89b8010.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>

dataset/kitchen_supplies/cookware/78a3e26aa34755f98766c893c89b8010/affordance/affordance_annot.json

@@ -0,0 +1,126 @@
+{
+    "affordances": [
+        {
+            "part_name": "pot body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pot body from the sides to lift or relocate the empty pot",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the pot body to stabilize it while placing or aligning it on a surface",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain soup or liquid",
+                "provide the main cooking vessel",
+                "support the handles",
+                "serve as the main grasp surface when empty"
+            ],
+            "semantic_description": "Large round dark gray metal vessel with a matte to satin finish, hard smooth surface, deep open cavity, and gently curved sides forming the main lower body of the soup pot.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pot interior",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold food or liquid",
+                "provide cooking volume",
+                "expose contents for stirring or filling"
+            ],
+            "semantic_description": "Deep circular inner basin with a very dark gray to black metal appearance, smooth hard surface, and open top recessed inside the rim where the soup is contained.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly pinch the rim to reorient the empty pot during placement",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "steady the pot at the top edge while another gripper manipulates a handle",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "define the opening",
+                "support pouring over the edge",
+                "stiffen the top edge",
+                "provide contact edge for a lid"
+            ],
+            "semantic_description": "Thin circular top edge in dark gray metal with a slightly reflective smooth finish, running around the opening as a narrow raised band at the pot's top.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to lift or carry the pot with one gripper when light",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the left handle to stabilize the pot while the other handle or body is manipulated",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "pull or rotate the pot on a surface using the handle",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift or carry the pot",
+                "stabilize during pouring",
+                "help rotate or reposition the pot"
+            ],
+            "semantic_description": "Small loop handle on one side, made of dark gray to black metal with a smooth hard finish, rounded oval shape, and compact size projecting outward from the upper pot wall.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to lift or carry the pot with one gripper when light",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the right handle to stabilize the pot while the other handle or body is manipulated",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "pull or rotate the pot on a surface using the handle",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift or carry the pot",
+                "stabilize during pouring",
+                "help rotate or reposition the pot"
+            ],
+            "semantic_description": "Matching loop handle on the opposite side, made of dark gray to black metal with a smooth hard finish, rounded oval shape, and compact size projecting outward near the rim.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cookware/78a3e26aa34755f98766c893c89b8010/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf2739fda5d3ca3987cedaed2d3bfbc9fd6108bb266444b4ccf2ca1be5c42f2
+size 1469028