Add asset desktop_supplies/decorations/ed4d8b25c6635d68aa73156c9699a46f

.gitattributes

@@ -6162,3 +6162,4 @@ dataset/desktop_supplies/decorations/e1d010d5f3795d6aac835d2755074fb8/affordance
 dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/ed3e4a847b0c5c70a9b41b77cb6a1614/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/ed4d8b25c6635d68aa73156c9699a46f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/ed4d8b25c6635d68aa73156c9699a46f/affordance/affordance_annot.json

@@ -0,0 +1,101 @@
+{
+    "affordances": [
+        {
+            "part_name": "dragon figurine body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the central torso to pick up and reposition the mini sculpture",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold around the body to stabilize the sculpture during placement",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the midsection for inspection or rotation without using the thin protrusions",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "represent the main creature form",
+                "provide the main structural mass",
+                "support display as a decorative figure",
+                "offer the safest main grasp region"
+            ],
+            "semantic_description": "Small stylized dragon body in teal-green and white, likely painted resin or plastic, with a mostly glossy smooth hard surface, sculpted scales and spikes, a compact crouching shape, and many thin decorative protrusions around the head and back.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.9403257966041565,
+                    "position": [
+                        -0.10240375343710184,
+                        -0.11664295569062233,
+                        -0.08548630122095346
+                    ],
+                    "orientation": {
+                        "w": 0.7557428185357271,
+                        "xyz": [
+                            -0.10405203038235306,
+                            0.6464851588874634,
+                            -0.009105303028253322
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9372667074203491,
+                    "position": [
+                        -0.09990228060632944,
+                        -0.12988098338246346,
+                        -0.08651203010231256
+                    ],
+                    "orientation": {
+                        "w": 0.7566170951684243,
+                        "xyz": [
+                            -0.17070077422027155,
+                            0.6295257232665459,
+                            0.04570755654405656
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9364191889762878,
+                    "position": [
+                        -0.10517941508442163,
+                        -0.11226360872387886,
+                        -0.08573057595640421
+                    ],
+                    "orientation": {
+                        "w": 0.7502863075220222,
+                        "xyz": [
+                            -0.11020373888224416,
+                            0.6505686692124082,
+                            -0.04106092206149184
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9358609318733215,
+                    "position": [
+                        -0.10369026754051447,
+                        -0.12362486496567726,
+                        -0.09781461302191019
+                    ],
+                    "orientation": {
+                        "w": 0.7803804611854309,
+                        "xyz": [
+                            -0.10698687456648188,
+                            0.6137835497893773,
+                            0.05319679011426645
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/decorations/ed4d8b25c6635d68aa73156c9699a46f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bc7f169cec0ed20898a3c7bc0cad24094e6246f525f1d60c9215df2e573d964
+size 494500

dataset/desktop_supplies/decorations/ed4d8b25c6635d68aa73156c9699a46f/ed4d8b25c6635d68aa73156c9699a46f.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>