Add asset livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c

.gitattributes

@@ -7719,3 +7719,4 @@ dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/affordanc
 dataset/livingroom_supplies/ornaments/747705be80a85a9aa9c49268bfb7d7f3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/780767d373a153589d65c9ba262cb39e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/789230d9487f5811aaae106b9135aa70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/affordance/affordance_annot.json

@@ -0,0 +1,177 @@
+{
+    "affordances": [
+        {
+            "part_name": "plant foliage and canes",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bundled canes near the middle to steady or reposition the plant carefully",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold the stalk bundle while the other gripper supports the pot during transport",
+                    "confidence": 0.44
+                },
+                {
+                    "scenario": "delicately pinch a cane cluster for inspection or pruning access",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "photosynthesize",
+                "grow upward",
+                "provide the plant's main living structure",
+                "add ornamental foliage"
+            ],
+            "semantic_description": "Tall cluster of green bamboo-like canes with narrow pointed green leaves, matte natural finish, slightly smooth-to-fibrous texture, forming a dense upright upper portion of the plant.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.8679313063621521,
+                    "position": [
+                        -0.10619231301825494,
+                        -0.0032540783286094666,
+                        0.04746013134717941
+                    ],
+                    "orientation": {
+                        "w": 0.49119773658157007,
+                        "xyz": [
+                            -0.5031016517670828,
+                            0.5193127983682023,
+                            -0.4857239226323557
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8635741472244263,
+                    "position": [
+                        -0.024421682464890182,
+                        -0.10571558424271643,
+                        0.03448914363980293
+                    ],
+                    "orientation": {
+                        "w": 0.6992949512298452,
+                        "xyz": [
+                            -0.7076785223258113,
+                            0.044065087434454475,
+                            -0.09075212555416247
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.8591411113739014,
+                    "position": [
+                        -0.07882099587004632,
+                        0.06423841021023691,
+                        0.008958585560321808
+                    ],
+                    "orientation": {
+                        "w": 0.6780600376844242,
+                        "xyz": [
+                            0.5925135927173031,
+                            0.3158068596199819,
+                            0.2990455737134321
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8359674215316772,
+                    "position": [
+                        0.10302381974179298,
+                        -0.01878483989275992,
+                        0.03512145206332207
+                    ],
+                    "orientation": {
+                        "w": 0.39617023212358665,
+                        "xyz": [
+                            0.5042369731269492,
+                            -0.5537153444780885,
+                            -0.5312189185264656
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8355352282524109,
+                    "position": [
+                        0.09849680971819907,
+                        -0.021994374925270677,
+                        0.0423937626183033
+                    ],
+                    "orientation": {
+                        "w": 0.5113065784128039,
+                        "xyz": [
+                            -0.5783654971780517,
+                            -0.4579131543826257,
+                            0.44087920974925715
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8352847695350647,
+                    "position": [
+                        0.004468068829737604,
+                        -0.10291926958598197,
+                        0.03397376462817192
+                    ],
+                    "orientation": {
+                        "w": 0.6709758185146668,
+                        "xyz": [
+                            -0.7407376672717226,
+                            -0.03264563541688348,
+                            0.005781154006532889
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.829865038394928,
+                    "position": [
+                        0.035830993321724236,
+                        -0.097095180535689,
+                        0.018081441521644592
+                    ],
+                    "orientation": {
+                        "w": 0.6617587400348257,
+                        "xyz": [
+                            -0.7288445346625768,
+                            -0.13586817671475115,
+                            0.1113591165384362
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "plant pot",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pot sidewalls to lift and carry the houseplant",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the pot rim to reposition the plant on a surface",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "stabilize the pot while inspecting or watering the plant",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "contain soil and roots",
+                "support the plant upright",
+                "provide the main lifting surface",
+                "stabilize placement on a surface"
+            ],
+            "semantic_description": "Medium round beige-taupe planter, likely ceramic or rigid plastic, with a matte slightly ribbed exterior, hard smooth texture, and a wide cylindrical form around the plant base.",
+            "id": 15,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:389ebbd7a600d40dfb731c00d6e22feeff6d17e3496dd4181c3608291d116050
+size 2708064

dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/houseplant_015.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>3</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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>
       <quality>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>