Add asset desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712

.gitattributes

@@ -6145,4 +6145,4 @@ dataset/desktop_supplies/decorations/a19d3f79aabe54248bf4a6ef350f1ea5/affordance
 dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/a72649317b295e15a9d7da45fb4b734a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/a72c89edd60757eab7d237d48861e304/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/a7c5fe8ac03251f9832ddf9ff91e6712.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/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/affordance/affordance_annot.json

@@ -0,0 +1,124 @@
+{
+    "affordances": [
+        {
+            "part_name": "main leaf blade",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the broad central blade to pick up or reposition the decorative leaf",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the main blade to stabilize the leaf during placement in a display or craft arrangement",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "main decorative body",
+                "provide visible display surface",
+                "define overall leaf shape"
+            ],
+            "semantic_description": "Large orange-brown molded leaf body covering most of the object, with a smooth slightly satin finish, broad lobes, and visible raised vein relief.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left outer lobe edge section",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define outer silhouette",
+                "add pointed edge detail",
+                "form one side of the leaf perimeter"
+            ],
+            "semantic_description": "Thin orange-brown edge section along one outer side of the leaf, following the pointed serrated lobe contours near the perimeter.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right outer lobe edge section",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define outer silhouette",
+                "add pointed edge detail",
+                "form the opposite side of the leaf perimeter"
+            ],
+            "semantic_description": "Thin orange-brown edge section along the opposite outer side of the leaf, tracing several narrow pointed lobes and serrated contours.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main stem",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the short stem to lift or orient the decorative leaf",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "hold the stem while placing the leaf precisely in a display or craft arrangement",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "serve as leaf base",
+                "provide a small handling point",
+                "indicate leaf orientation"
+            ],
+            "semantic_description": "Short curved stem-like extension at the lower base of the leaf, orange-brown, smooth, and slightly glossy.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left basal lobe",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "complete lower leaf outline",
+                "add asymmetry and realism",
+                "decorative shape detail"
+            ],
+            "semantic_description": "Small lower side lobe near the base of the leaf, orange-brown and molded with a pointed curved shape.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "central basal notch detail",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define base contour",
+                "add fine molded detail",
+                "separate lower lobes visually"
+            ],
+            "semantic_description": "Very small orange-brown region at the base notch beside the stem, appearing as a tiny molded contour detail between the lower lobes.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right basal lobe",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "complete lower leaf outline",
+                "add decorative contour variation",
+                "form lower side detail"
+            ],
+            "semantic_description": "Small lower side lobe on the opposite side of the base, orange-brown with a smooth molded finish and pointed contour.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several edge parts are actually usable grasp points; one stem description misses visible green wire wrapping."
+    }
+}

dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5404713d80c0a02cf2b4e0ff45bfd822155c77fb64b9b23c825ea30c184d2ae
+size 1242124