Add asset desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e

.gitattributes

@@ -6114,3 +6114,4 @@ dataset/desktop_supplies/decorations/4bf232b3bcfd55ffa7b26ff156f50ad2/affordance
 dataset/desktop_supplies/decorations/4bbdd8c7e6c553f597dcf27265656b18/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/57d5d48d4ed35b75bd394a969f44df0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/57d5d48d4ed35b75bd394a969f44df0e.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/57d5d48d4ed35b75bd394a969f44df0e/affordance/affordance_annot.json

@@ -0,0 +1,71 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer body shell",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the broad outer shell from opposite sides to pick up the object",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the outer shell to reposition or rotate the object",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "stabilize the object by clamping the outer shell during placement",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "provide overall structure",
+                "form the exterior shape",
+                "surround openings and recessed areas",
+                "support placement"
+            ],
+            "semantic_description": "Large rounded asymmetric outer shell in translucent glossy red material, with a smooth hard surface, flowing layered contours, and a broad enclosing form around the central recessed opening.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "openings and recessed inner surfaces",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form recessed openings",
+                "define inner cavity surfaces",
+                "create access to interior voids",
+                "add visual depth and contour variation"
+            ],
+            "semantic_description": "Exposed recessed surfaces and opening regions visible at the top cavity and several side or underside cutouts, appearing as smooth curved areas of the same translucent glossy red object.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small interior rib/bridge",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly hook or pin against the small interior rib to help stabilize the object during manipulation",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "connect interior surfaces",
+                "reinforce interior form",
+                "add small internal structural detail"
+            ],
+            "semantic_description": "Tiny narrow internal bridge-like feature visible within a lower interior opening, matching the object's translucent glossy red appearance and smooth curved geometry.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask color names and a graspability label are incorrect; red body mask is pink and tiny interior rib is not realistically graspable."
+    }
+}

dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:429b59b53224d02565dd2774880b92a3a8ffb65d96c0a3324d86ead9c056d6c9
+size 1240428