Add asset desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f

.gitattributes

@@ -6159,3 +6159,4 @@ dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/affordance
 dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/e1d010d5f3795d6aac835d2755074fb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/affordance/affordance_annot.json

@@ -0,0 +1,167 @@
+{
+    "affordances": [
+        {
+            "part_name": "rolled outer layer of cloth",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rolled upper layer to pick up the folded cloth bundle",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch the rolled layer to begin unrolling or unfolding the cloth",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the rolled layer to reposition the cloth on a surface",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "enable lifting",
+                "enable unrolling",
+                "cover underlying fold",
+                "provide bundled form"
+            ],
+            "semantic_description": "Large bright yellow-orange fabric roll with a matte soft surface, flexible cloth texture, rounded cylindrical folded shape, and positioned on top of the bundled cloth.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_11": {
+                    "confidence": 0.8143119812011719,
+                    "position": [
+                        -0.049997564405202866,
+                        0.19105281086740433,
+                        0.02134616021066904
+                    ],
+                    "orientation": {
+                        "w": 0.5597909933390237,
+                        "xyz": [
+                            0.3702070337277859,
+                            0.6192543949778123,
+                            -0.40755955424409657
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8028964400291443,
+                    "position": [
+                        -0.05396628752350807,
+                        0.19167386146364152,
+                        0.027700801379978657
+                    ],
+                    "orientation": {
+                        "w": 0.5944592475161328,
+                        "xyz": [
+                            0.47831498976119846,
+                            0.526463765190978,
+                            -0.3750584988414964
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "flat folded base layer of cloth",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower folded layer to lift or drag the cloth bundle",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "pinch an exposed corner or edge of the folded layer to unfold the cloth",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the lower layer to stabilize the bundle while manipulating the rolled layer",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support folded bundle",
+                "provide secondary grasp area",
+                "enable unfolding",
+                "stabilize cloth during manipulation",
+                "cover surface"
+            ],
+            "semantic_description": "Broad yellow-orange fabric sheet with a matte finish, soft pliable cloth texture, rectangular folded form, and forming the lower outer layer beneath the rolled section.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.8966653943061829,
+                    "position": [
+                        0.10676562786102295,
+                        0.15149979444322526,
+                        -0.019691898487508297
+                    ],
+                    "orientation": {
+                        "w": 0.36700541551150256,
+                        "xyz": [
+                            0.5820922624586818,
+                            0.4115967405475327,
+                            -0.597548111988992
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.889169454574585,
+                    "position": [
+                        0.12685681879520416,
+                        -0.14196699706735671,
+                        -0.03348589222878218
+                    ],
+                    "orientation": {
+                        "w": 0.30172784906743144,
+                        "xyz": [
+                            -0.6130172218273284,
+                            0.336284343945613,
+                            0.648138126372237
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.8846451640129089,
+                    "position": [
+                        0.12727311253547668,
+                        0.13611796649274766,
+                        -0.03602362331002951
+                    ],
+                    "orientation": {
+                        "w": 0.6457494970384335,
+                        "xyz": [
+                            0.319623562292225,
+                            -0.6140863708143038,
+                            0.3220967163482973
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "open end face of rolled cloth",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "not a reliable grasp point because this is an end opening rather than a protruding handle or tab",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "expose roll cross-section",
+                "indicate roll orientation",
+                "show inner folded layers"
+            ],
+            "semantic_description": "Small blue-masked region corresponding to the visible open circular end face of the yellow-orange cloth roll, appearing as a recessed smooth cross-section at one end of the upper roll rather than a separate spiral protruding part.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db254b802f918c364e8c41c30ef1da804fb76934888573d9604050e30c336f9e
+size 1655236

dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/e4e17002a6d8591aa47e76b7eb71a51f.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>