Add asset desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b

.gitattributes

@@ -6094,4 +6094,5 @@ dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/affordance
 dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/1e3423f53e6b5957bc4f6bc7591d10d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/207ce39413a15594bddbf3817fb63c0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/affordance/affordance_annot.json

@@ -0,0 +1,214 @@
+{
+    "affordances": [
+        {
+            "part_name": "top surface of saucer",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the saucer by opposing contacts on the upper rim to lift it from a flat surface",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "stabilize the saucer from above at the rim during repositioning",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "support a cup or small bowl",
+                "provide a resting surface",
+                "catch drips and spills",
+                "present decorative pattern"
+            ],
+            "semantic_description": "Broad concave upper face of the saucer in white glazed ceramic with blue concentric printed decoration and a blue patterned border near the rim, glossy smooth hard finish.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.008772546425461769,
+                    "position": [
+                        -0.09700512839481235,
+                        0.10466452175751328,
+                        -0.04437161365058273
+                    ],
+                    "orientation": {
+                        "w": 0.9065950759015146,
+                        "xyz": [
+                            0.08769970329406347,
+                            0.3446781824803121,
+                            -0.22713670094312974
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9871578812599182,
+                    "position": [
+                        0.12069212691858411,
+                        0.13601868832483888,
+                        0.056836119503714144
+                    ],
+                    "orientation": {
+                        "w": 0.4657390769390165,
+                        "xyz": [
+                            0.3508687327147275,
+                            -0.7802885844566613,
+                            0.2261149477185766
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9871223568916321,
+                    "position": [
+                        0.12054330157116055,
+                        0.13927073264494538,
+                        0.05138891062233597
+                    ],
+                    "orientation": {
+                        "w": 0.4741166372980914,
+                        "xyz": [
+                            0.33994906705508243,
+                            -0.7604229916358392,
+                            0.2853154742335742
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9862253665924072,
+                    "position": [
+                        0.12302969442680478,
+                        0.1355540701188147,
+                        0.056899550021626055
+                    ],
+                    "orientation": {
+                        "w": 0.45682902455329316,
+                        "xyz": [
+                            0.34032151240403025,
+                            -0.7740119854016654,
+                            0.27639456755749175
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9862217307090759,
+                    "position": [
+                        0.11263822810724378,
+                        0.14414062583819032,
+                        0.052006422192789614
+                    ],
+                    "orientation": {
+                        "w": 0.4485283918775825,
+                        "xyz": [
+                            0.36049969247939895,
+                            -0.7503728758421903,
+                            0.3252734243713891
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9859257340431213,
+                    "position": [
+                        0.01408244064077735,
+                        -0.1866342625580728,
+                        0.05742247274611145
+                    ],
+                    "orientation": {
+                        "w": 0.3127896052221951,
+                        "xyz": [
+                            -0.6231701524388527,
+                            0.5800924253255647,
+                            0.42108716681250785
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9856687784194946,
+                    "position": [
+                        0.07851800369098783,
+                        0.16667806589975953,
+                        0.05619422218296677
+                    ],
+                    "orientation": {
+                        "w": 0.2948354939719673,
+                        "xyz": [
+                            0.7200124703043604,
+                            0.45568214853724964,
+                            -0.43244404679102116
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9855056405067444,
+                    "position": [
+                        0.005192595534026623,
+                        -0.18731482839211822,
+                        0.054421326727606356
+                    ],
+                    "orientation": {
+                        "w": 0.3278739181919109,
+                        "xyz": [
+                            -0.6027099868959124,
+                            0.5887387828045341,
+                            0.42734764663824776
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "underside of saucer",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the saucer at the underside rim to pick it up from a table",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the underside edge to reposition or stack the saucer",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "form the lower exterior surface",
+                "provide clearance around the foot ring",
+                "allow lifting from below",
+                "support stacking orientation"
+            ],
+            "semantic_description": "Lower exterior face of the saucer in white glazed ceramic, mostly plain and glossy, surrounding the central raised base area on the underside.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot ring",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "elevate the saucer slightly",
+                "stabilize contact on a table",
+                "create a stable supporting ring",
+                "help centering during stacking"
+            ],
+            "semantic_description": "Narrow circular raised ring of white glazed ceramic around the underside center, smooth and glossy, forming the annular support ridge that contacts the table.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "central underside recess",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reduce material in the base center",
+                "enclose the maker's mark or central decoration area",
+                "define the area inside the foot ring"
+            ],
+            "semantic_description": "Small circular recessed area inside the foot ring on the underside, showing blue decoration with a small light center mark under glossy glazed ceramic.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2453dc4af1206a7c9cb817b231c27f4fdf47ebb377c44d262aa6ff961c1f68b4
+size 938060