Add asset desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784

.gitattributes

@@ -6105,3 +6105,4 @@ dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/affordance
 dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/37242c4063c9538da75ebd06cc776784.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/37242c4063c9538da75ebd06cc776784/affordance/affordance_annot.json

@@ -0,0 +1,148 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper body and arms of dancer figurine",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the torso to pick up the decoration",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the upper body to stabilize the figurine during placement",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp around the raised arm and shoulder area for reorientation",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "main structural body",
+                "display human form",
+                "provide central grasp area",
+                "support attached skirt and limbs"
+            ],
+            "semantic_description": "Slender human upper body with raised arms, appearing blue-tinted and likely resin or painted ceramic with a smooth slightly glossy hard surface, forming the central upper portion of the ballerina figure.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "skirt of dancer figurine",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the skirt area to lift the decoration when the torso is inaccessible",
+                    "confidence": 0.54
+                },
+                {
+                    "scenario": "pinch the skirt edge to rotate or reposition the figurine delicately",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "decorative costume",
+                "add visual volume",
+                "suggest motion",
+                "partially shield lower body"
+            ],
+            "semantic_description": "Flared light blue tutu-like skirt with a translucent gauzy appearance and soft ruffled edges, surrounding the waist and upper legs as a medium-sized decorative garment element.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.8022034168243408,
+                    "position": [
+                        0.08227178384549916,
+                        -0.036150659434497356,
+                        -0.0912795071490109
+                    ],
+                    "orientation": {
+                        "w": 0.6039220147631805,
+                        "xyz": [
+                            -0.5258942612735167,
+                            -0.46015169676466194,
+                            0.3833716760645809
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.7028045654296875,
+                    "position": [
+                        0.06858246703632176,
+                        0.045464503578841686,
+                        -0.10897911386564374
+                    ],
+                    "orientation": {
+                        "w": 0.7246477147363567,
+                        "xyz": [
+                            0.5522092559558982,
+                            -0.2734592515361147,
+                            -0.3084974309671269
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.676866888999939,
+                    "position": [
+                        -0.05296444590203464,
+                        -0.09338448289781809,
+                        -0.08809454785659909
+                    ],
+                    "orientation": {
+                        "w": 0.7696531167443791,
+                        "xyz": [
+                            -0.5822499707299352,
+                            0.2091324784556834,
+                            -0.15774237834404434
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "supporting leg and foot of dancer figurine",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower leg or foot to orient the figurine during careful placement",
+                    "confidence": 0.33
+                },
+                {
+                    "scenario": "hold the foot while attaching or seating it onto a stand or surface",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "support pose",
+                "contact surface",
+                "indicate balance point",
+                "complete dancer silhouette"
+            ],
+            "semantic_description": "Thin lower leg and pointed foot, tinted warm reddish-brown with a smooth hard finish, forming a small narrow extension at the bottom of the figurine in a ballet pose.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hands of dancer figurine",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "express pose",
+                "terminate arms",
+                "add gestural detail",
+                "indicate orientation"
+            ],
+            "semantic_description": "Small hand tips at the ends of the raised arms, matching the warm skin-toned figure material with a smooth hard surface and tiny rounded shape.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:467d89d0e977d837419b344990d058ca90fe4e822f1d9ef98d47136fdc17fe90
+size 896472