Add asset desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42

.gitattributes

@@ -6137,3 +6137,4 @@ dataset/desktop_supplies/decorations/933cdd8b8da952b0918112183735f127/affordance
 dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/affordance/affordance_annot.json

@@ -0,0 +1,176 @@
+{
+    "affordances": [
+        {
+            "part_name": "drinking lid",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid rim to twist or pull the lid off for opening",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the lid area to stabilize the thermos while manipulating the tab",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "cover the mouth",
+                "retain heat",
+                "help prevent spills",
+                "provide opening interface"
+            ],
+            "semantic_description": "Dark gray to black plastic lid with a matte smooth hard surface, circular and medium-sized, forming the top cap around the thermos opening.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_44": {
+                    "confidence": 0.35346558690071106,
+                    "position": [
+                        -0.07013176963664591,
+                        -0.041616586458985694,
+                        0.17281777039170265
+                    ],
+                    "orientation": {
+                        "w": 0.1779626929983228,
+                        "xyz": [
+                            0.3804926064975408,
+                            0.8614226325718048,
+                            0.28549203910889354
+                        ]
+                    }
+                },
+                "grasp_49": {
+                    "confidence": 0.47940918803215027,
+                    "position": [
+                        -0.07007863209582865,
+                        0.005889522421057336,
+                        0.17686719074845314
+                    ],
+                    "orientation": {
+                        "w": 0.19430717245677062,
+                        "xyz": [
+                            0.7032769810395397,
+                            0.6534215395880408,
+                            0.2017089543727787
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "thermos body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cylindrical body to pick up and carry the thermos",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening or closing the lid",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "main grasp surface",
+                "insulate contents",
+                "support upright placement"
+            ],
+            "semantic_description": "Tall green cylindrical body with slightly tapered sides, likely painted metal, with a smooth semi-matte hard surface and no obvious markings.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.8805319666862488,
+                    "position": [
+                        -0.0445009081158787,
+                        0.047175838190014474,
+                        0.17478563264012337
+                    ],
+                    "orientation": {
+                        "w": 0.0733256400770923,
+                        "xyz": [
+                            0.4462978482482037,
+                            0.8918727165899041,
+                            0.0021537313788926034
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom base",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support standing",
+                "protect the bottom",
+                "stabilize placement"
+            ],
+            "semantic_description": "Dark green circular bottom piece, likely plastic or rubber, with a smooth hard surface and slightly raised disk shape at the base of the thermos.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid tab",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hook the tab to pull and help remove or lift the lid",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "use the tab as a small hold point to rotate the lid slightly during opening",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "pull to open",
+                "provide finger access",
+                "assist lid manipulation"
+            ],
+            "semantic_description": "Small dark gray plastic tab with a smooth hard surface, protruding from the lid edge as a short flat flap for opening control.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_12": {
+                    "confidence": 0.3079914152622223,
+                    "position": [
+                        0.10918443812988698,
+                        0.08838286488025915,
+                        0.10184278711676598
+                    ],
+                    "orientation": {
+                        "w": 0.36187311408995254,
+                        "xyz": [
+                            0.6864846719181324,
+                            0.25813123688750583,
+                            -0.5754606060046338
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.29531925916671753,
+                    "position": [
+                        0.105845877667889,
+                        0.07204924761026632,
+                        0.1157691664993763
+                    ],
+                    "orientation": {
+                        "w": 0.3489592346711176,
+                        "xyz": [
+                            0.7269588338795887,
+                            0.2565374398864254,
+                            -0.5328666327691152
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69d72b560de4a5bce1d49a6a70da2d003f3dd80da09277f943a14d156b325760
+size 1329020