Add asset desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59

.gitattributes

@@ -6171,4 +6171,4 @@ dataset/desktop_supplies/decorations/f43dc0a4b1855874a16fc253636923e0/affordance
 dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/f6081aabe52b56b8ae7acbae76d84604/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/f7ac2ca905c05c6abdf49dade9b7dd08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/fd0995d61a0d5e04a991849a6456e816/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/affordance/affordance_annot.json

@@ -0,0 +1,113 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid to unscrew or remove it for opening",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the lid to stabilize the thermos while rotating the body",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "pick up the thermos by the lid when the body is obstructed",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "cover the opening",
+                "seal the container",
+                "enable opening and closing",
+                "provide a twisting interface"
+            ],
+            "semantic_description": "Rounded brown lid with a wood-like appearance, hard smooth satin finish, and slightly domed cylindrical shape at the top of the thermos.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_14": {
+                    "confidence": 0.4936542809009552,
+                    "position": [
+                        0.04376287341438001,
+                        -0.09792751097120345,
+                        0.14288978860713542
+                    ],
+                    "orientation": {
+                        "w": 0.5033063060008446,
+                        "xyz": [
+                            -0.8403507757566014,
+                            -0.1661086770896767,
+                            0.1135836406379865
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.4755473732948303,
+                    "position": [
+                        0.04786187365971273,
+                        -0.02901825145818293,
+                        0.1835392324719578
+                    ],
+                    "orientation": {
+                        "w": 0.24353417869183971,
+                        "xyz": [
+                            -0.8619186908123626,
+                            -0.42522199078960177,
+                            0.13028251143619216
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "thermos body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body at the midsection to pick up and carry the thermos",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the body while unscrewing the lid",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the body to tilt and pour from the thermos",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide the main grip surface",
+                "support lifting and carrying",
+                "insulate contents",
+                "support pouring"
+            ],
+            "semantic_description": "Tall white cylindrical body with a slight taper, likely painted metal, smooth matte-to-satin finish, hard texture, and clean unmarked sides forming the main vessel.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom base",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support upright standing",
+                "protect the bottom",
+                "provide a contact surface",
+                "improve stability"
+            ],
+            "semantic_description": "Dark gray circular bottom base, likely plastic or rubber, with a smooth slightly recessed surface and hard finish at the underside of the thermos.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:978a1294d168efecab2e65650698e9e4af3378b35b25307d8e97e35cd2082f61
+size 2128948