Add asset desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d

.gitattributes

@@ -6163,3 +6163,4 @@ dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/affordance
 dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/ed3e4a847b0c5c70a9b41b77cb6a1614/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/e6543d1fa03c51e491ba7075d82cc1c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/affordance/affordance_annot.json

@@ -0,0 +1,165 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid top",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top of the lid to remove or twist the lid during opening",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "stabilize the thermos by holding the lid top while the body is manipulated",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "cover the drinking opening",
+                "provide a surface for opening",
+                "seal the container top",
+                "indicate top orientation"
+            ],
+            "semantic_description": "Flat circular light gray plastic top with a matte smooth hard surface, medium-sized and positioned at the very top of the thermos lid.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_43": {
+                    "confidence": 0.5295819640159607,
+                    "position": [
+                        0.05222272302489728,
+                        -0.04501144966343418,
+                        0.18391492730006576
+                    ],
+                    "orientation": {
+                        "w": 0.24302369550076697,
+                        "xyz": [
+                            -0.8943877654477381,
+                            -0.3571569413556177,
+                            0.11596951187295827
+                        ]
+                    }
+                },
+                "grasp_44": {
+                    "confidence": 0.5232356786727905,
+                    "position": [
+                        0.04735030035953969,
+                        -0.03196338197449222,
+                        0.1850018328987062
+                    ],
+                    "orientation": {
+                        "w": 0.22075965027290598,
+                        "xyz": [
+                            -0.8629598630590424,
+                            -0.4381605083903226,
+                            0.12075106810143414
+                        ]
+                    }
+                },
+                "grasp_49": {
+                    "confidence": 0.5095889568328857,
+                    "position": [
+                        -0.03701986197847873,
+                        0.047240592481102794,
+                        0.18476480012759566
+                    ],
+                    "orientation": {
+                        "w": 0.24843567300289768,
+                        "xyz": [
+                            0.893537034071379,
+                            0.3635004746133306,
+                            0.08796982481739868
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lid side ring",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grip the lid side ring to twist and unscrew or remove the lid",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the ring to stabilize the top while separating lid and body",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "provide grip for opening",
+                "connect lid to body",
+                "help seal the container",
+                "transfer twisting force"
+            ],
+            "semantic_description": "Short light gray plastic band around the upper neck with a matte smooth hard finish, encircling the thermos just below the lid top.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_15": {
+                    "confidence": 0.6261504888534546,
+                    "position": [
+                        -0.09709772292990237,
+                        0.06398656958481297,
+                        0.09919937467202544
+                    ],
+                    "orientation": {
+                        "w": 0.5433808907660875,
+                        "xyz": [
+                            0.697076439671128,
+                            0.3883559594748074,
+                            0.26077057645769547
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "thermos body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and carry the thermos",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body steady while opening or closing the lid",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the body to reposition the thermos on a surface",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "main grasp surface",
+                "support carrying",
+                "provide insulated enclosure"
+            ],
+            "semantic_description": "Tall tapered light gray body, likely plastic or coated metal, with a matte smooth hard surface and subtle waist contour forming the main central section of the thermos.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom base",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support upright standing",
+                "contact the table",
+                "stabilize the thermos",
+                "protect the lower end"
+            ],
+            "semantic_description": "Flat circular dark gray base with a matte slightly dull hard surface, located at the bottom and sized to support the thermos upright.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8af64446706a9e09f1476ac30a2fe6f3942b0215d4407d119990b8148c8bc743
+size 2201344