Add asset kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862

.gitattributes

@@ -8366,3 +8366,4 @@ dataset/kitchen_supplies/cookware/5b415060267d5d789a8dde5c6bc2145c/affordance/me
 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/7edef1c8d40d525f9990481a78355862/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/7edef1c8d40d525f9990481a78355862.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/7edef1c8d40d525f9990481a78355862/affordance/affordance_annot.json

@@ -0,0 +1,293 @@
+{
+    "affordances": [
+        {
+            "part_name": "pot body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pot body from the sides to pick up the empty pot",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the body to stabilize the pot during placement",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "provide main structure",
+                "support side grasping",
+                "enclose cooking volume"
+            ],
+            "semantic_description": "Large round silver-gray metal vessel body with a dull to lightly reflective finish, hard smooth surface, and deep cylindrical bowl shape forming the main container.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.11993443965911865,
+                    "position": [
+                        -0.05129733355715871,
+                        0.05801671894732863,
+                        -0.16312025021761656
+                    ],
+                    "orientation": {
+                        "w": 0.42032798365740454,
+                        "xyz": [
+                            -0.059536057193409715,
+                            0.09518910667490299,
+                            0.9003992881043373
+                        ]
+                    }
+                },
+                "grasp_42": {
+                    "confidence": 0.11382245272397995,
+                    "position": [
+                        -0.05474165128543973,
+                        -0.16823104617651552,
+                        -0.12916226964443922
+                    ],
+                    "orientation": {
+                        "w": 0.9253215061229467,
+                        "xyz": [
+                            -0.27257780717421504,
+                            0.11779743386447405,
+                            0.23580757815940287
+                        ]
+                    }
+                },
+                "grasp_43": {
+                    "confidence": 0.11273057758808136,
+                    "position": [
+                        0.06694714678451419,
+                        0.20811491610947996,
+                        -0.08186125289648771
+                    ],
+                    "orientation": {
+                        "w": 0.819120368604001,
+                        "xyz": [
+                            0.49154570963070154,
+                            -0.1952389077127925,
+                            -0.22205045822247527
+                        ]
+                    }
+                },
+                "grasp_44": {
+                    "confidence": 0.11266518384218216,
+                    "position": [
+                        -0.04508961038663983,
+                        -0.18083805439528078,
+                        -0.12348928581923246
+                    ],
+                    "orientation": {
+                        "w": 0.2087930876978857,
+                        "xyz": [
+                            -0.11980927744271262,
+                            -0.1775892063545328,
+                            -0.9542081834456279
+                        ]
+                    }
+                },
+                "grasp_45": {
+                    "confidence": 0.11056975275278091,
+                    "position": [
+                        -0.04648371087387204,
+                        0.10541360231582075,
+                        -0.15336377453058958
+                    ],
+                    "orientation": {
+                        "w": 0.3766395490508572,
+                        "xyz": [
+                            -0.009620862428696862,
+                            -0.07107258571673802,
+                            0.9235793288377732
+                        ]
+                    }
+                },
+                "grasp_46": {
+                    "confidence": 0.10791970044374466,
+                    "position": [
+                        -0.027809564489871264,
+                        -0.18395524320658296,
+                        -0.12541606556624174
+                    ],
+                    "orientation": {
+                        "w": 0.26168361891010156,
+                        "xyz": [
+                            -0.09393021102740103,
+                            -0.21880675505725267,
+                            -0.9353194122821231
+                        ]
+                    }
+                },
+                "grasp_49": {
+                    "confidence": 0.09984911978244781,
+                    "position": [
+                        -0.03950439812615514,
+                        -0.16797862050589174,
+                        -0.12874555867165327
+                    ],
+                    "orientation": {
+                        "w": 0.2265078055780687,
+                        "xyz": [
+                            -0.056810601516221054,
+                            -0.22603737405785163,
+                            -0.9457134212310854
+                        ]
+                    }
+                },
+                "grasp_53": {
+                    "confidence": 0.09476910531520844,
+                    "position": [
+                        -0.026404347736388445,
+                        -0.1754223465686664,
+                        -0.13181256782263517
+                    ],
+                    "orientation": {
+                        "w": 0.9190625442251964,
+                        "xyz": [
+                            -0.23155254296040478,
+                            0.08100122454327108,
+                            0.30845787601124725
+                        ]
+                    }
+                },
+                "grasp_54": {
+                    "confidence": 0.09375742077827454,
+                    "position": [
+                        -0.052411839831620455,
+                        -0.16960046289023012,
+                        -0.13672191929072142
+                    ],
+                    "orientation": {
+                        "w": 0.30722973193206393,
+                        "xyz": [
+                            -0.10417297528218483,
+                            -0.1591054087886027,
+                            -0.9324394628778969
+                        ]
+                    }
+                },
+                "grasp_56": {
+                    "confidence": 0.08440986275672913,
+                    "position": [
+                        -0.08194443257525563,
+                        0.010508797713555396,
+                        -0.16779869329184294
+                    ],
+                    "orientation": {
+                        "w": 0.20192469250895823,
+                        "xyz": [
+                            -0.06207789332946825,
+                            0.03790734094343473,
+                            0.9766963638805747
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rim to reposition the empty pot",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "use the rim as a stabilizing contact during manipulation",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "define opening",
+                "support pouring edge",
+                "stiffen the top",
+                "provide alignment edge"
+            ],
+            "semantic_description": "Wide circular silver metal rim with a smooth slightly reflective finish, hard rounded edge, and raised ring running around the pot opening.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support on flat surfaces",
+                "stabilize the pot",
+                "transfer heat from below"
+            ],
+            "semantic_description": "Flat circular silver-gray metal bottom with a matte worn-looking finish, hard smooth surface, and broad centered contact area underneath the pot.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one side handle to pull or rotate the pot",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp the side handle together with the opposite handle to lift the pot",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "assist lifting",
+                "help pull or reposition",
+                "aid orientation control"
+            ],
+            "semantic_description": "Small protruding silver metal ear handle with a smooth slightly reflective finish, hard surface, and short tapered shape attached near the upper side of the pot.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one side handle to pull or rotate the pot",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp the side handle together with the opposite handle to lift the pot",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "assist lifting",
+                "help pull or reposition",
+                "aid orientation control"
+            ],
+            "semantic_description": "Small protruding silver metal ear handle with a smooth slightly reflective finish, hard surface, and short tapered shape attached near the upper side of the pot.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "outer side band",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce side wall",
+                "add structural rigidity",
+                "separate upper and lower body sections"
+            ],
+            "semantic_description": "Thin horizontal silver metal band around the upper exterior wall, with a smooth slightly reflective finish and narrow ring-like shape just below the rim.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12bb222ac0dc868c0e025a07bcc7bc8c163c6cde785d593d6249910c7a340e37
+size 1172200