Add asset desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936

.gitattributes

@@ -6142,3 +6142,4 @@ dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/affordance
 dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/a0e79ecd809055e3b0b15f871c3cf468/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/a19d3f79aabe54248bf4a6ef350f1ea5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/affordance/affordance_annot.json

@@ -0,0 +1,310 @@
+{
+    "affordances": [
+        {
+            "part_name": "base platform",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base from the sides to pick up the sculpture",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the base to stabilize the sculpture during placement",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch a base corner for repositioning on a shelf",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support the sculpture",
+                "provide a stable footprint",
+                "serve as main grasp surface",
+                "elevate the bridge model"
+            ],
+            "semantic_description": "Large dark gray to black base platform, likely painted resin or metal, with a matte slightly worn finish, hard smooth surfaces, and a rectangular slab shape beneath the bridge with decorative side arches.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9488487839698792,
+                    "position": [
+                        0.111149359960109,
+                        -0.00045677542220801115,
+                        0.05244158348068595
+                    ],
+                    "orientation": {
+                        "w": 0.3699434543509168,
+                        "xyz": [
+                            -0.6042339211892723,
+                            -0.6208400323334368,
+                            0.3355605210977067
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9356896877288818,
+                    "position": [
+                        -0.03735647676512599,
+                        0.007121575879864395,
+                        -0.10645909095183015
+                    ],
+                    "orientation": {
+                        "w": 0.7121577993259112,
+                        "xyz": [
+                            0.04086244862506316,
+                            0.048649690933401435,
+                            0.6991385676128329
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9345213174819946,
+                    "position": [
+                        -0.11696653394028544,
+                        0.011547223082743585,
+                        0.04813189944252372
+                    ],
+                    "orientation": {
+                        "w": 0.3193457815837458,
+                        "xyz": [
+                            -0.6274067499601481,
+                            0.5800071828952503,
+                            -0.40984229854790016
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9274678230285645,
+                    "position": [
+                        -0.11385902343317866,
+                        -0.003065106342546642,
+                        0.050526907201856375
+                    ],
+                    "orientation": {
+                        "w": 0.34560030381053536,
+                        "xyz": [
+                            0.6090038971588961,
+                            0.6094126181219264,
+                            0.3718749038656972
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9137771725654602,
+                    "position": [
+                        -0.0896136718802154,
+                        -0.0028890095418319106,
+                        0.07491998141631484
+                    ],
+                    "orientation": {
+                        "w": 0.2436467096753322,
+                        "xyz": [
+                            -0.6675727517347692,
+                            0.6671990986226966,
+                            -0.223222455865698
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bridge railing and posts",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "carefully pinch the railing to reorient the miniature",
+                    "confidence": 0.38
+                },
+                {
+                    "scenario": "lightly hold the top posts to steady the object while the base is manipulated",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "guard the walkway edges",
+                "provide architectural detail",
+                "indicate the bridge outline",
+                "add visual structure"
+            ],
+            "semantic_description": "Thin dark metallic-looking railings and posts with a matte slightly weathered finish, hard smooth texture, and curved narrow forms running along both sides of the arched bridge deck.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.9543834924697876,
+                    "position": [
+                        -0.01326178340241313,
+                        -0.027816217043437064,
+                        0.11368115758523345
+                    ],
+                    "orientation": {
+                        "w": 0.08456984587569528,
+                        "xyz": [
+                            -0.7172821715382272,
+                            0.6866753213866532,
+                            0.08265125867464256
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.9309566020965576,
+                    "position": [
+                        0.006846494507044554,
+                        -0.0027857875684276223,
+                        0.12135277455672622
+                    ],
+                    "orientation": {
+                        "w": 0.01774678384001095,
+                        "xyz": [
+                            0.7081715216811875,
+                            -0.705375404136773,
+                            -0.024973721828586634
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9282696843147278,
+                    "position": [
+                        0.029443754348903894,
+                        0.018657680950127542,
+                        0.11469073360785842
+                    ],
+                    "orientation": {
+                        "w": 0.08458018038935747,
+                        "xyz": [
+                            0.7227775080122665,
+                            -0.6858313456044035,
+                            0.008615821686564171
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9226234555244446,
+                    "position": [
+                        -0.024865693878382444,
+                        -0.02026082167867571,
+                        0.11454166984185576
+                    ],
+                    "orientation": {
+                        "w": 0.02058745941423219,
+                        "xyz": [
+                            -0.6953418204865055,
+                            -0.715436618963444,
+                            -0.06501041027047255
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.965561032295227,
+                    "position": [
+                        -0.0010525693942327052,
+                        -0.001846801838837564,
+                        0.1195503524504602
+                    ],
+                    "orientation": {
+                        "w": 0.011893870937683588,
+                        "xyz": [
+                            -0.7071420874666894,
+                            -0.7068406461640874,
+                            -0.013597974029461307
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.9517183303833008,
+                    "position": [
+                        0.0013800342567265034,
+                        0.01851183210965246,
+                        0.11784279113635421
+                    ],
+                    "orientation": {
+                        "w": 0.03367331032844108,
+                        "xyz": [
+                            0.6956548591039562,
+                            0.7153850221909199,
+                            -0.05616667340582045
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9371873140335083,
+                    "position": [
+                        -0.011867268476635218,
+                        0.021456497139297426,
+                        0.11760996794328094
+                    ],
+                    "orientation": {
+                        "w": 0.0442089665891823,
+                        "xyz": [
+                            0.7531660559150168,
+                            0.655365515962995,
+                            -0.03581200883909568
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.914962649345398,
+                    "position": [
+                        0.0712483418174088,
+                        0.02959714864846319,
+                        0.09699595486745238
+                    ],
+                    "orientation": {
+                        "w": 0.10152988874132196,
+                        "xyz": [
+                            -0.6589331291595292,
+                            -0.6965215376230809,
+                            0.2652481114266137
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9114642143249512,
+                    "position": [
+                        0.0008646383648738265,
+                        -0.034757000976242125,
+                        0.113844511564821
+                    ],
+                    "orientation": {
+                        "w": 0.10379725796588828,
+                        "xyz": [
+                            -0.704802639136428,
+                            -0.6951172447272855,
+                            -0.096391831541038
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "end block of bridge",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch an end block for fine adjustment of the miniature",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "use an end block as a secondary stabilizing hold while grasping the base",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "terminate the railing structure",
+                "reinforce bridge corners",
+                "provide architectural detail",
+                "mark the bridge ends"
+            ],
+            "semantic_description": "Small dark gray end block at a bridge corner, likely painted resin or metal, with a matte hard surface and compact rectangular shape attached near the railing end above the base.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30612018ffbba6d8eb68184eb3cbcc1102f30c4bb63644539e5a9515d91e2851
+size 3783432

dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mini_sculpture_008.urdf

@@ -54,6 +54,7 @@
                <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>NO: {"summary":"Main bridge and base are merged; olive is tiny inconsistent fragments, not a functional part.","merge_groups":[]}</PartSegChecker>