Add asset desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311

.gitattributes

@@ -6112,4 +6112,5 @@ dataset/desktop_supplies/decorations/49188a1b75735ac79bb0c396ac871943/affordance
 dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/4bf232b3bcfd55ffa7b26ff156f50ad2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/4bbdd8c7e6c553f597dcf27265656b18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/affordance/affordance_annot.json

@@ -0,0 +1,197 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to pick up the cup when the handle is not used",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the body to stabilize the cup during placement",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "form the main vessel",
+                "support the rim and handle",
+                "provide exterior support surface"
+            ],
+            "semantic_description": "Dark brown ceramic cup body with a smooth mostly matte to satin finish, hard texture, rounded bowl shape, medium size, forming the main outer walls and lower vessel of the cup.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the cup",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the handle to rotate or reposition the cup",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the cup",
+                "reorient the vessel",
+                "reduce contact with the hot body"
+            ],
+            "semantic_description": "Curved dark brown ceramic handle with a smooth slightly satin surface, hard texture, looped shape, and medium protruding size attached to the side of the cup.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_27": {
+                    "confidence": 0.7237497568130493,
+                    "position": [
+                        0.10825487691909075,
+                        0.12426489405333996,
+                        0.012254434172064066
+                    ],
+                    "orientation": {
+                        "w": 0.719630449859246,
+                        "xyz": [
+                            0.20523375564833232,
+                            -0.6522917378353138,
+                            0.12052638686049562
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.7131751179695129,
+                    "position": [
+                        -0.06449795048683882,
+                        0.14231890253722668,
+                        0.05975996749475598
+                    ],
+                    "orientation": {
+                        "w": 0.13696297615983524,
+                        "xyz": [
+                            0.7380979437752171,
+                            -0.3254354925304689,
+                            0.5749298294206764
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.705105185508728,
+                    "position": [
+                        0.09286478627473116,
+                        0.14169896952807903,
+                        0.04652319522574544
+                    ],
+                    "orientation": {
+                        "w": 0.5869234773501445,
+                        "xyz": [
+                            0.30276169211958076,
+                            -0.7185256943878471,
+                            0.21812156249340522
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.6966615319252014,
+                    "position": [
+                        0.03684758488088846,
+                        0.12083576433360577,
+                        0.12113817082718015
+                    ],
+                    "orientation": {
+                        "w": 0.2859069158987814,
+                        "xyz": [
+                            0.9506038299614551,
+                            -0.11705118140970894,
+                            -0.0301432386191608
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.6913306713104248,
+                    "position": [
+                        -0.06939477752894163,
+                        0.1486597191542387,
+                        0.006924123037606478
+                    ],
+                    "orientation": {
+                        "w": 0.7144724194450098,
+                        "xyz": [
+                            0.2590891138432501,
+                            0.6312800110704572,
+                            -0.15455594638575523
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.6877878308296204,
+                    "position": [
+                        0.09588096756488085,
+                        0.15943155996501446,
+                        0.0326566924341023
+                    ],
+                    "orientation": {
+                        "w": 0.6469370215140405,
+                        "xyz": [
+                            0.3269389246367792,
+                            -0.6624023895372719,
+                            0.18922606608816198
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.6848042011260986,
+                    "position": [
+                        0.07484297174960375,
+                        0.16897238604724407,
+                        0.020382859278470278
+                    ],
+                    "orientation": {
+                        "w": 0.6319493954158433,
+                        "xyz": [
+                            0.38625432694594697,
+                            -0.5979230904027001,
+                            0.306489044685724
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "interior basin",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold beverage volume",
+                "provide drinking cavity",
+                "contain liquid"
+            ],
+            "semantic_description": "The inner basin is dark brown ceramic with a smooth slightly reflective finish, hard texture, and a deep round concave shape occupying the central interior of the cup.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base flange",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide a wider support footprint",
+                "improve stability on a surface",
+                "form an integrated saucer-like resting area"
+            ],
+            "semantic_description": "A broad integrated dark brown ceramic flange around the lower exterior, with a smooth matte-to-satin finish, hard texture, and a flat rounded saucer-like shape extending outward from the cup base.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Yellow part is a pouring lip/side flange, not base flange; graspability also too strict for broad body/base surfaces."
+    }
+}

dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbe3dcfd13ef9e66c23a4e13377bb8f5cb2b26fe50ba71447a4c38ba3aa5f520
+size 838796