Add asset desktop_supplies/decorations/9de6b8001aee5acdb7d7641e666e80a3

.gitattributes

@@ -6139,3 +6139,4 @@ dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/affordance
 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/9d18e8cf2a3257cabee21a293a333576/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9de6b8001aee5acdb7d7641e666e80a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/9de6b8001aee5acdb7d7641e666e80a3/affordance/affordance_annot.json

@@ -0,0 +1,285 @@
+{
+    "affordances": [
+        {
+            "part_name": "base",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the round base from the sides to lift or reposition the sculpture",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the base to stabilize the sculpture during placement on a surface",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "support the sculpture upright",
+                "provide a stable footprint",
+                "enable tabletop display",
+                "serve as the main grasp point"
+            ],
+            "semantic_description": "Large round gold-toned base made of hard metal or resin with a smooth slightly reflective finish, broad flat cylindrical shape, and minor worn speckling around the rim.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_16": {
+                    "confidence": 0.7607643604278564,
+                    "position": [
+                        0.053348072222433984,
+                        0.05243044125381857,
+                        -0.11251986399292946
+                    ],
+                    "orientation": {
+                        "w": 0.1776377418069655,
+                        "xyz": [
+                            -0.19863003844152566,
+                            -0.4099565158564361,
+                            0.8723110658597033
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "head and neck",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp around the thicker neck area to reposition the sculpture carefully",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the neck and lower head area to stabilize the object while the base is manipulated",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "form the main bust body",
+                "connect the head to the base",
+                "provide the bird profile",
+                "support attached facial and feather details"
+            ],
+            "semantic_description": "Medium-sized gold-toned bird head and neck with hard smooth metallic-looking surfaces, layered feather relief, a slightly reflective finish, and a curved upright form above the base.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.9315327405929565,
+                    "position": [
+                        0.011200833483599126,
+                        0.10868438857141882,
+                        -0.037078363820910454
+                    ],
+                    "orientation": {
+                        "w": 0.10184749130841285,
+                        "xyz": [
+                            0.03061251436603645,
+                            -0.5762150636054385,
+                            0.8103494079423718
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.9304164052009583,
+                    "position": [
+                        0.030164178810082376,
+                        0.10347331094089895,
+                        -0.026777874678373337
+                    ],
+                    "orientation": {
+                        "w": 0.756659559625771,
+                        "xyz": [
+                            0.6405969917589645,
+                            -0.11486808805862725,
+                            -0.06250701818240433
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9248107671737671,
+                    "position": [
+                        0.02897071128245443,
+                        0.11193667876068503,
+                        -0.023347889073193073
+                    ],
+                    "orientation": {
+                        "w": 0.7427082062835686,
+                        "xyz": [
+                            0.6601183492465867,
+                            -0.08961946684620647,
+                            -0.06779849901883556
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.9188416600227356,
+                    "position": [
+                        0.03550463204737753,
+                        0.10808007942978293,
+                        -0.028543952852487564
+                    ],
+                    "orientation": {
+                        "w": 0.7411937320667403,
+                        "xyz": [
+                            0.6540199726239364,
+                            -0.07558957260660493,
+                            -0.13105702372293038
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.9154939651489258,
+                    "position": [
+                        0.007449712953530252,
+                        0.10720632749143988,
+                        -0.03755565173923969
+                    ],
+                    "orientation": {
+                        "w": 0.7697242608972672,
+                        "xyz": [
+                            0.6381260869688574,
+                            -0.00843598604490614,
+                            -0.01576367518759645
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9084034562110901,
+                    "position": [
+                        0.03609460627194494,
+                        0.09998485224787146,
+                        -0.03262604959309101
+                    ],
+                    "orientation": {
+                        "w": 0.7439607281095804,
+                        "xyz": [
+                            0.6472971014056297,
+                            -0.07736016769272236,
+                            -0.14677977380104848
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9068393111228943,
+                    "position": [
+                        0.030539213097654283,
+                        0.10343321191612631,
+                        -0.03388368524610996
+                    ],
+                    "orientation": {
+                        "w": 0.11225340049000611,
+                        "xyz": [
+                            -0.0804558820839573,
+                            -0.6492735224329096,
+                            0.7479103677474225
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "crest and upper head feathers",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative feather detail",
+                "suggest plumage and motion",
+                "define the top silhouette",
+                "indicate top orientation"
+            ],
+            "semantic_description": "Large fan of gold-toned crest and upper head feathers with hard smooth metallic-looking surfaces, thin pointed layered shapes, and a slightly reflective finish projecting from the top and rear of the head.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "beak",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "depict the bird's beak",
+                "define front direction",
+                "provide decorative realism"
+            ],
+            "semantic_description": "Curved gold-toned beak with a hard smooth slightly reflective surface, hooked pointed shape, and forward-projecting position at the front of the eagle head.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "eye",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide visual detail",
+                "suggest gaze direction",
+                "enhance realism"
+            ],
+            "semantic_description": "Small eye area with a red jewel-like inset, glossy reflective appearance, and oval shape on the side of the head.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "brow and eye ridge",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame the eye",
+                "add facial definition",
+                "enhance expression"
+            ],
+            "semantic_description": "Small gold-toned raised ridge around and above the eye with a hard smooth metallic-looking surface, slightly reflective finish, and narrow curved shape between the forehead and beak area.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear side feather tuft",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "add layered feather detail",
+                "extend the rear silhouette",
+                "enhance decorative texture"
+            ],
+            "semantic_description": "Small cluster of gold-toned side or rear feathers with hard smooth slightly reflective surfaces, thin layered feather-like shapes, and a protruding position behind the head on one side.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "facial contour stripe",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate facial regions",
+                "add contour detail",
+                "define the side profile"
+            ],
+            "semantic_description": "Thin dark blue curved stripe-like accent running from near the eye toward the side of the beak, narrow and recessed compared with the surrounding gold surfaces.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front neck feather accent",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "add plumage detail",
+                "break up the neck surface",
+                "enhance ornamentation"
+            ],
+            "semantic_description": "Small gold-toned feather accent with a hard smooth surface, slightly reflective finish, and a narrow leaf-like shape set on the front lower side of the neck beneath the beak.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part names/descriptions mismatch segmented parts; blue stripe and rear tuft are incorrect, and eye color/material description is wrong."
+    }
+}

dataset/desktop_supplies/decorations/9de6b8001aee5acdb7d7641e666e80a3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7608fd067c1d9a9af2b4caae6262044458ab51538c1a317f525071b6d4f0109e
+size 3784812

dataset/desktop_supplies/decorations/9de6b8001aee5acdb7d7641e666e80a3/mini_sculpture_007.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>YES</PartSegChecker>