Add asset desktop_supplies/decorations/13b12950ed6459a5b5c853902625d1c8

.gitattributes

@@ -6087,3 +6087,4 @@ dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/affordance/mes
 dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/13b12950ed6459a5b5c853902625d1c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/13b12950ed6459a5b5c853902625d1c8/13b12950ed6459a5b5c853902625d1c8.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/13b12950ed6459a5b5c853902625d1c8/affordance/affordance_annot.json

@@ -0,0 +1,287 @@
+{
+    "affordances": [
+        {
+            "part_name": "teacup body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to pick up the teacup when empty or cool",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the cup body to stabilize it during placement on a surface",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain tea or other liquid",
+                "form the main vessel",
+                "provide exterior decorative surface",
+                "provide a secondary grasp surface"
+            ],
+            "semantic_description": "Main white ceramic cup body with a glossy smooth hard surface, slightly flared cylindrical shape, thin gold rim accents, and pink rose floral decoration around the outer wall.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9754413962364197,
+                    "position": [
+                        -0.08620585931930691,
+                        0.04733686661347747,
+                        0.12185720354318619
+                    ],
+                    "orientation": {
+                        "w": 0.18982832069621605,
+                        "xyz": [
+                            0.932872057626538,
+                            -0.24032304268374277,
+                            0.18963060912339977
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9747639298439026,
+                    "position": [
+                        0.092815320356749,
+                        -0.036955336574465036,
+                        0.12957993894815445
+                    ],
+                    "orientation": {
+                        "w": 0.22297922423803732,
+                        "xyz": [
+                            -0.21779228964633499,
+                            -0.9496170473725608,
+                            0.032775714610507656
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.974294126033783,
+                    "position": [
+                        0.1033988551935181,
+                        -0.035109779331833124,
+                        0.12144660204648972
+                    ],
+                    "orientation": {
+                        "w": 0.07680528803322363,
+                        "xyz": [
+                            -0.9579814696678026,
+                            0.14829616894823255,
+                            0.2331966933267455
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9733880758285522,
+                    "position": [
+                        0.10673154459800571,
+                        -0.008044939022511244,
+                        0.11635559052228928
+                    ],
+                    "orientation": {
+                        "w": 0.25231849633768794,
+                        "xyz": [
+                            -0.031131651968536893,
+                            -0.964918154325966,
+                            -0.0655679197761287
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9733664989471436,
+                    "position": [
+                        -0.07145759148988873,
+                        0.06320765754207969,
+                        0.12512242048978806
+                    ],
+                    "orientation": {
+                        "w": 0.17630583047928275,
+                        "xyz": [
+                            0.9280846655363988,
+                            -0.28509289671935134,
+                            0.1621639539952404
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.972694993019104,
+                    "position": [
+                        0.10201893316116184,
+                        -0.028923569712787867,
+                        0.11412755399942398
+                    ],
+                    "orientation": {
+                        "w": 0.16805094137234614,
+                        "xyz": [
+                            0.9147071973249287,
+                            -0.2381904657058811,
+                            -0.27988377286412514
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9718524813652039,
+                    "position": [
+                        0.07195895479526371,
+                        -0.0830946103669703,
+                        0.12791339308023453
+                    ],
+                    "orientation": {
+                        "w": 0.15044944290193726,
+                        "xyz": [
+                            -0.9245800143118087,
+                            0.2975748663990392,
+                            0.1842985652501578
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9709228277206421,
+                    "position": [
+                        -0.10594360961113125,
+                        -0.00992063945159316,
+                        0.1148187443614006
+                    ],
+                    "orientation": {
+                        "w": 0.17656338708247962,
+                        "xyz": [
+                            0.9351733147848529,
+                            0.1506105837698662,
+                            0.26756811041821355
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9708332419395447,
+                    "position": [
+                        -0.11359563155565411,
+                        0.02613352006301284,
+                        0.11380409449338913
+                    ],
+                    "orientation": {
+                        "w": 0.3214307039805062,
+                        "xyz": [
+                            0.18280465371983434,
+                            0.9288805440974748,
+                            0.021111511413119077
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9707658290863037,
+                    "position": [
+                        0.09300601796712726,
+                        -0.044069665018469095,
+                        0.1298568770289421
+                    ],
+                    "orientation": {
+                        "w": 0.2274084837165688,
+                        "xyz": [
+                            -0.25633790276058144,
+                            -0.9384746156202814,
+                            -0.04291453108684051
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9706724882125854,
+                    "position": [
+                        0.09573085920419544,
+                        -0.03640457475557923,
+                        0.11831232160329819
+                    ],
+                    "orientation": {
+                        "w": 0.25946475105697264,
+                        "xyz": [
+                            -0.19996902025902727,
+                            -0.9427289466999146,
+                            0.06286944368814566
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "ornate side handles and attached rose ornament",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one of the side handles to lift and carry the teacup",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "use a handle to stabilize and orient the cup while placing it down",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide side grip points",
+                "lift the teacup",
+                "help orient the cup",
+                "add decorative ornamentation"
+            ],
+            "semantic_description": "Gold-colored ornate loop side handles with curled details mounted on opposite sides of the cup; the same segmented part also includes a pink rose-shaped decorative protrusion near one side. Surfaces appear glossy and rigid.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_34": {
+                    "confidence": 0.3684956133365631,
+                    "position": [
+                        -0.057382770464755595,
+                        0.15991766145452857,
+                        0.04617863520979881
+                    ],
+                    "orientation": {
+                        "w": 0.6157524393246564,
+                        "xyz": [
+                            0.40565801605503826,
+                            0.6297870778205145,
+                            -0.2442513952597278
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "footed base ring",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base from below to lift or reposition the teacup",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "pinch the base edge to stabilize the cup during precise placement",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "support the teacup on a table",
+                "stabilize upright placement",
+                "elevate the cup body",
+                "provide a lower contact surface"
+            ],
+            "semantic_description": "Circular white ceramic footed base ring with a glossy smooth hard finish at the bottom of the cup, trimmed with a thin gold band.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside center pad",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the recessed underside center",
+                "provide the central bottom surface detail"
+            ],
+            "semantic_description": "Small circular recessed underside center area on the bottom of the cup, appearing as a smooth glossy ceramic patch with a reddish mark at the center.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green part description and grasping are overstated; rose ornament is not a useful handle and base grasp confidence is too high."
+    }
+}

dataset/desktop_supplies/decorations/13b12950ed6459a5b5c853902625d1c8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7e62a24107d71864b56ae483e7c9b05bd4a9f4575260287ff57538acc10dba
+size 1078164