Add asset desktop_supplies/decorations/6446909557805b03961d797f6f8f6592

.gitattributes

@@ -6117,4 +6117,4 @@ dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/affordance
 dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/5cca654b2a195b4090d33f35dbfeab1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/6446909557805b03961d797f6f8f6592.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/6446909557805b03961d797f6f8f6592/affordance/affordance_annot.json

@@ -0,0 +1,178 @@
+{
+    "affordances": [
+        {
+            "part_name": "top slab",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the square top slab from opposite side edges to lift or reposition the object",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the top slab to stabilize the object during placement",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "provide top platform",
+                "cap the column capital",
+                "support upper load",
+                "offer a broad contact surface"
+            ],
+            "semantic_description": "Flat square light gray stone slab with a matte weathered finish, smooth hard surface, visible crack lines on the top face, and slight overhang above the capital.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "column shaft",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cylindrical shaft around its middle to pick up the object",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the shaft to stabilize the object during placement or rotation",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main structural support",
+                "connect capital and base",
+                "provide central grasp region",
+                "define the column body"
+            ],
+            "semantic_description": "Tall light gray stone cylindrical shaft with a matte worn finish, shallow vertical grooves, slightly tapered profile, central position, and scattered crack markings.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base plinth",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the square base from opposite sides to lift the object",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the base to stabilize the object on a surface",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "support the object",
+                "provide stable footing",
+                "distribute load to the ground",
+                "define bottom orientation"
+            ],
+            "semantic_description": "Broad square light gray stone base with a matte weathered finish, beveled sides, hard smooth surface, bottom placement, and visible crack lines on the faces.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower collar ring",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "transition between shaft and base",
+                "visually finish the base joint",
+                "support the shaft above the plinth"
+            ],
+            "semantic_description": "Thin circular light gray stone collar around the bottom of the shaft, with a matte worn finish and narrow rounded profile just above the base.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "capital band",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "transition between shaft and top slab",
+                "support decorative capital elements",
+                "form the upper joint"
+            ],
+            "semantic_description": "Rounded light gray stone band forming the capital below the top slab, with a matte aged finish and curved profile around the top of the shaft.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "capital ornament 1",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "ornamental detail",
+                "decorate the capital",
+                "contribute to classical styling"
+            ],
+            "semantic_description": "Small rounded light gray stone ornament projecting from one side of the capital beneath the top slab, with a circular recessed detail on its face.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "capital ornament 2",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "ornamental detail",
+                "decorate the capital",
+                "contribute to classical styling"
+            ],
+            "semantic_description": "Small rounded light gray stone ornament projecting from another side of the capital beneath the top slab, with a circular recessed detail on its face.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "capital ornament 3",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "ornamental detail",
+                "decorate the capital",
+                "contribute to classical styling"
+            ],
+            "semantic_description": "Small rounded light gray stone ornament attached around the capital under the slab, with a matte weathered finish and circular recessed face detail.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "capital ornament 4",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "ornamental detail",
+                "decorate the capital",
+                "complete capital symmetry"
+            ],
+            "semantic_description": "Small rounded light gray stone ornament attached around another side of the capital beneath the slab, with a matte weathered finish and circular recessed face detail.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper trim ring",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate shaft from capital",
+                "visually frame the top joint",
+                "finish the transition to the capital"
+            ],
+            "semantic_description": "Thin circular light gray stone trim ring around the shaft just below the capital band, with a matte aged finish and narrow rounded profile.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/decorations/6446909557805b03961d797f6f8f6592/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:857922cdb4c2dc9c62776498300b351ca33ee89585bccaaf1fbb6c5d2d03d41f
+size 479136