Add asset desktop_supplies/decorations/861b0c30994e50aeac4e5066a57f7275

.gitattributes

@@ -6127,4 +6127,4 @@ dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/affordance
 dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/85f47d0e88c15400b3f9ef21c4fdf446/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/861b0c30994e50aeac4e5066a57f7275/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/861b0c30994e50aeac4e5066a57f7275/affordance/affordance_annot.json

@@ -0,0 +1,215 @@
+{
+    "affordances": [
+        {
+            "part_name": "base of sculpture",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base from opposite sides to lift and reposition the sculpture",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the base to stabilize the sculpture during placement on a shelf",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "support the sculpture",
+                "provide stable standing surface",
+                "enable placement on flat surfaces",
+                "serve as main handling area"
+            ],
+            "semantic_description": "Rectangular white stone or plaster base with a matte slightly speckled hard surface, smooth flat faces, and a relatively large footprint at the bottom of the sculpture.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "robed figure body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the torso sides to pick up the sculpture when the base is inaccessible",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the body gently to steady the sculpture during inspection or rotation",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "represent the main figure",
+                "provide visual form",
+                "connect head to base",
+                "support draped garment details"
+            ],
+            "semantic_description": "Tall white statue body made of stone or plaster with a matte hard smooth surface, carved draped robes, and a slender upright form above the base.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.9823926687240601,
+                    "position": [
+                        0.0940550944651477,
+                        0.028569254325702786,
+                        0.005598148331046104
+                    ],
+                    "orientation": {
+                        "w": 0.5165358897611544,
+                        "xyz": [
+                            0.6159639061788723,
+                            -0.4074078307766268,
+                            -0.43335666637932513
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.9815099239349365,
+                    "position": [
+                        0.09379123215330765,
+                        0.024294180097058415,
+                        -0.0014951284974813461
+                    ],
+                    "orientation": {
+                        "w": 0.5467022684792954,
+                        "xyz": [
+                            0.5791410608628943,
+                            -0.4281052704387217,
+                            -0.4271277779362787
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.9812791347503662,
+                    "position": [
+                        0.09638296876801178,
+                        -0.01462346757762134,
+                        0.0035642702132463455
+                    ],
+                    "orientation": {
+                        "w": 0.5105521867921125,
+                        "xyz": [
+                            -0.5609834626472139,
+                            -0.5002813436073462,
+                            0.41755550102538735
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9809606075286865,
+                    "position": [
+                        -0.0248945479397662,
+                        0.09374074009247124,
+                        -0.0013190293684601784
+                    ],
+                    "orientation": {
+                        "w": 0.13252597844891154,
+                        "xyz": [
+                            -0.0653482390064731,
+                            0.7133731239299661,
+                            -0.6850293853181129
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9805172085762024,
+                    "position": [
+                        0.09551465575350448,
+                        0.008795646717771888,
+                        0.002581799402832985
+                    ],
+                    "orientation": {
+                        "w": 0.5056323111612974,
+                        "xyz": [
+                            0.5474130475625714,
+                            -0.4602760931110639,
+                            -0.4825151182899438
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.980323314666748,
+                    "position": [
+                        0.09821161691797897,
+                        -0.00048693083226680756,
+                        0.0005384013056755066
+                    ],
+                    "orientation": {
+                        "w": 0.4956787148614295,
+                        "xyz": [
+                            -0.5001588851807346,
+                            -0.5646719857057134,
+                            0.4304523780480864
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.9802190661430359,
+                    "position": [
+                        0.0965664914692752,
+                        -0.004139219643548131,
+                        -0.010905865696258843
+                    ],
+                    "orientation": {
+                        "w": 0.5264438035413664,
+                        "xyz": [
+                            -0.5048754832222611,
+                            -0.4930465110781457,
+                            0.4741970118712854
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9801104068756104,
+                    "position": [
+                        0.09706324402941391,
+                        0.007639880059286952,
+                        -0.008823738782666624
+                    ],
+                    "orientation": {
+                        "w": 0.511926302517412,
+                        "xyz": [
+                            0.5316046890300896,
+                            -0.4397300786448055,
+                            -0.5118255301634592
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9798662066459656,
+                    "position": [
+                        -0.09499446983681992,
+                        -0.01649291138164699,
+                        -0.0019408566877245903
+                    ],
+                    "orientation": {
+                        "w": 0.5351240941960769,
+                        "xyz": [
+                            -0.5399277148523374,
+                            0.4820676682437185,
+                            -0.43558125508247625
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "head of sculpture",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "represent the figure's face",
+                "provide identity cues",
+                "indicate front orientation"
+            ],
+            "semantic_description": "Small white sculpted head with curly hair, matte hard stone-like surface, and fine facial detailing positioned at the top of the standing figure.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/decorations/861b0c30994e50aeac4e5066a57f7275/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f0e79f6089e3075d7b5195f9f1c2ab9dbfbd921e29894f6685d719d27ba790
+size 3780828

dataset/desktop_supplies/decorations/861b0c30994e50aeac4e5066a57f7275/mini_sculpture_005.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>