Add asset desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22

.gitattributes

@@ -6156,3 +6156,4 @@ dataset/desktop_supplies/decorations/c25d39f40c045e75919ea01ea08b8c87/affordance
 dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/d80343181be75d479bb0db2cc96bc963/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/affordance/affordance_annot.json

@@ -0,0 +1,348 @@
+{
+    "affordances": [
+        {
+            "part_name": "brick body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls to pick up the lego brick",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body to place or reposition the brick during assembly",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "stabilize the brick while separating it from another piece",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "main structural body",
+                "support top studs",
+                "house underside connection geometry",
+                "provide main grasp surface",
+                "connect with other bricks"
+            ],
+            "semantic_description": "Large bright blue plastic rectangular brick shell with glossy smooth hard side walls and a flat outer perimeter, forming the main exterior body of the piece.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.5702803134918213,
+                    "position": [
+                        -0.09143211264745332,
+                        -0.021221643692115322,
+                        -0.01639987388625741
+                    ],
+                    "orientation": {
+                        "w": 0.5251717838784595,
+                        "xyz": [
+                            0.35287231762439664,
+                            0.5415628533140935,
+                            0.5535209126876792
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.5498110055923462,
+                    "position": [
+                        -0.09088845123187639,
+                        -0.021367883688071743,
+                        -0.02549760090187192
+                    ],
+                    "orientation": {
+                        "w": 0.5474820570872493,
+                        "xyz": [
+                            0.33085688750720876,
+                            0.514860567893516,
+                            0.570715088976034
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.5058872103691101,
+                    "position": [
+                        0.09569229613407515,
+                        -0.007150550285587087,
+                        -0.00755296042189002
+                    ],
+                    "orientation": {
+                        "w": 0.6572468105030085,
+                        "xyz": [
+                            -0.35436167962598364,
+                            -0.5908530534943299,
+                            0.30552757530655145
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.45081138610839844,
+                    "position": [
+                        -0.09735538382665254,
+                        -0.01803088971064426,
+                        -0.012786808889359236
+                    ],
+                    "orientation": {
+                        "w": 0.49777194144525694,
+                        "xyz": [
+                            0.40897304468137247,
+                            0.5159340879592766,
+                            0.5646026566670556
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.44985681772232056,
+                    "position": [
+                        0.09867735634907149,
+                        -0.0031809673237148672,
+                        -0.007777223829180002
+                    ],
+                    "orientation": {
+                        "w": 0.36334170918140807,
+                        "xyz": [
+                            0.5491999792663879,
+                            -0.3827719489786263,
+                            -0.6479566499527859
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.44776564836502075,
+                    "position": [
+                        -0.09578330387012102,
+                        -0.001294043759116903,
+                        -0.03036084258928895
+                    ],
+                    "orientation": {
+                        "w": 0.5183505326062345,
+                        "xyz": [
+                            0.420594836271531,
+                            0.4163922746862889,
+                            0.6172764231931556
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.4160347282886505,
+                    "position": [
+                        -0.09518016446963884,
+                        0.005855607887497172,
+                        -0.001021521515212953
+                    ],
+                    "orientation": {
+                        "w": 0.4126709963319339,
+                        "xyz": [
+                            0.580994049803887,
+                            0.39048534412380753,
+                            0.5828119412841493
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.41425853967666626,
+                    "position": [
+                        -0.0982576789392624,
+                        -0.0013762823364231735,
+                        -0.00803680857643485
+                    ],
+                    "orientation": {
+                        "w": 0.4043375087897169,
+                        "xyz": [
+                            0.5593068807066499,
+                            0.3878994262493771,
+                            0.6109181837982292
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.40411198139190674,
+                    "position": [
+                        -0.09295621086494066,
+                        -0.027663456654408947,
+                        -0.009768025483936071
+                    ],
+                    "orientation": {
+                        "w": 0.7342468955472515,
+                        "xyz": [
+                            -0.06745700633728215,
+                            0.6594005356442492,
+                            0.14670372274524332
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top stud 1",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "snap-fit connection point",
+                "align with other lego parts",
+                "provide stacking interface"
+            ],
+            "semantic_description": "Small bright blue plastic cylindrical stud with a glossy smooth hard finish on the top surface near one corner, showing a recessed circular marking.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top stud 2",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "snap-fit connection point",
+                "align with other lego parts",
+                "provide stacking interface"
+            ],
+            "semantic_description": "Small bright blue plastic cylindrical stud with a glossy smooth hard finish on the top surface near one corner, showing a recessed circular marking.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top stud 3",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "snap-fit connection point",
+                "align with other lego parts",
+                "provide stacking interface"
+            ],
+            "semantic_description": "Small bright blue plastic cylindrical stud with a glossy smooth hard finish on the top surface, sized uniformly with the other studs and bearing a recessed circular marking.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top stud 4",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "snap-fit connection point",
+                "align with other lego parts",
+                "provide stacking interface"
+            ],
+            "semantic_description": "Small bright blue plastic cylindrical stud with a glossy smooth hard finish on the top surface, sized uniformly with the other studs and bearing a recessed circular marking.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top stud 5",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "snap-fit connection point",
+                "align with other lego parts",
+                "provide stacking interface"
+            ],
+            "semantic_description": "Small bright blue plastic cylindrical stud with a glossy smooth hard finish on the top surface, sized uniformly with the other studs and bearing a recessed circular marking.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top stud 6",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "snap-fit connection point",
+                "align with other lego parts",
+                "provide stacking interface"
+            ],
+            "semantic_description": "Small bright blue plastic cylindrical stud with a glossy smooth hard finish on the top surface, sized uniformly with the other studs and bearing a recessed circular marking.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top stud 7",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "snap-fit connection point",
+                "align with other lego parts",
+                "provide stacking interface"
+            ],
+            "semantic_description": "Small bright blue plastic cylindrical stud with a glossy smooth hard finish on the top surface near one end, showing a recessed circular marking.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top stud 8",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "snap-fit connection point",
+                "align with other lego parts",
+                "provide stacking interface"
+            ],
+            "semantic_description": "Small bright blue plastic cylindrical stud with a glossy smooth hard finish on the top surface near one end, showing a recessed circular marking.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center underside tube",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert a slim gripper or peg into the center tube to manipulate the brick",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "grasp the center tube from below for fixture-based stabilization",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "reinforce underside",
+                "receive top studs from another brick",
+                "provide internal alignment",
+                "support clutch connection"
+            ],
+            "semantic_description": "Medium bright blue plastic hollow cylindrical tube on the underside with a glossy smooth hard surface, centered beneath the brick and larger than the side internal features.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left underside side tube",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce underside",
+                "receive studs from another brick",
+                "support clutch geometry",
+                "stabilize internal structure"
+            ],
+            "semantic_description": "Small bright blue plastic hollow partial cylindrical tube on the underside near one side wall, with a glossy smooth hard surface and open curved form.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right underside side tube",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce underside",
+                "receive studs from another brick",
+                "support clutch geometry",
+                "stabilize internal structure"
+            ],
+            "semantic_description": "Small bright blue plastic hollow partial cylindrical tube on the underside near the opposite side wall, with a glossy smooth hard surface and open curved form.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb45fc2f67f6ab414b0d065856b4cc592b940ecfe2ade60d4040697cb56f0853
+size 1423524