Add asset livingroom_supplies/ornaments/949b35ff81195a5ea907f7fbdaa6242f

.gitattributes

@@ -7733,3 +7733,4 @@ dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/affordanc
 dataset/livingroom_supplies/ornaments/88d07b71ea64530aa538989726263c98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/94762781a7005c20b4df62dbdb2521aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/949b35ff81195a5ea907f7fbdaa6242f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/949b35ff81195a5ea907f7fbdaa6242f/949b35ff81195a5ea907f7fbdaa6242f.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>5.088707208633423</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>26</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <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>
    </custom_data>
 </robot>

dataset/livingroom_supplies/ornaments/949b35ff81195a5ea907f7fbdaa6242f/affordance/affordance_annot.json

@@ -0,0 +1,852 @@
+{
+    "affordances": [
+        {
+            "part_name": "top canopy",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the canopy from opposite sides to lift or reposition the wind chime",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the canopy to stabilize the wind chime while untangling the tubes",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "support hanging tubes",
+                "serve as main structural hub",
+                "provide top cover",
+                "distribute suspension lines"
+            ],
+            "semantic_description": "Round shallow light beige wooden canopy with a matte smooth finish, located at the top of the wind chime with multiple cords attached around its edge.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hanging loop",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top loop to lift or hang the wind chime",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the loop to orient the wind chime before mounting",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "hang the object",
+                "provide top attachment point",
+                "support lifting",
+                "indicate top orientation"
+            ],
+            "semantic_description": "Small light beige or tan looped top connector at the very top above the canopy, with a smooth hard surface.",
+            "id": 22,
+            "grasp_group": {
+                "grasp_313": {
+                    "confidence": 0.7715235352516174,
+                    "position": [
+                        -0.030467581818811595,
+                        0.07647658756468445,
+                        0.34322959557175636
+                    ],
+                    "orientation": {
+                        "w": 0.3941506016173442,
+                        "xyz": [
+                            0.9097044284123165,
+                            0.10367124925156157,
+                            0.07959540344973984
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "tube suspension cord",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "suspend one chime tube from the canopy",
+                "connect a tube to the top hub",
+                "maintain tube position"
+            ],
+            "semantic_description": "Thin dark cord running from the top hanging point area to the canopy edge and associated tube, flexible and taut.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tube suspension cord",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "suspend one chime tube from the canopy",
+                "connect a tube to the top hub",
+                "maintain tube position"
+            ],
+            "semantic_description": "Thin dark cord running from the top hanging point area to the canopy edge and associated tube, flexible and taut.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tube suspension cord",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "suspend one chime tube from the canopy",
+                "connect a tube to the top hub",
+                "maintain tube position"
+            ],
+            "semantic_description": "Thin dark cord running from the top hanging point area to the canopy edge and associated tube, flexible and taut.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_42": {
+                    "confidence": 0.026339789852499962,
+                    "position": [
+                        0.08516830310691148,
+                        -0.12324659654404968,
+                        0.09296781197190285
+                    ],
+                    "orientation": {
+                        "w": 0.42343143283626583,
+                        "xyz": [
+                            -0.7391439094825327,
+                            0.016743581745692904,
+                            0.5235377304754927
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_68": {
+                    "confidence": 0.03794382885098457,
+                    "position": [
+                        0.08714613423217088,
+                        -0.10589350888039917,
+                        -0.07538272067904472
+                    ],
+                    "orientation": {
+                        "w": 0.28184279127856954,
+                        "xyz": [
+                            0.3197653492519585,
+                            -0.6302908940724969,
+                            -0.6488822322050207
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_107": {
+                    "confidence": 0.0766507238149643,
+                    "position": [
+                        0.06532569334376603,
+                        0.1503486024448648,
+                        0.1062982864677906
+                    ],
+                    "orientation": {
+                        "w": 0.7013453441044686,
+                        "xyz": [
+                            0.7117869485962538,
+                            -0.017252000288796254,
+                            -0.0342989299695185
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_150": {
+                    "confidence": 0.5843525528907776,
+                    "position": [
+                        -0.009809016133658588,
+                        0.10404069593641907,
+                        -0.2029813937842846
+                    ],
+                    "orientation": {
+                        "w": 0.6746144866080371,
+                        "xyz": [
+                            0.7373355678657335,
+                            0.03501589805584948,
+                            0.0023327455997314865
+                        ]
+                    }
+                },
+                "grasp_154": {
+                    "confidence": 0.5513050556182861,
+                    "position": [
+                        -0.016337073291651905,
+                        0.102458311826922,
+                        -0.19961779937148094
+                    ],
+                    "orientation": {
+                        "w": 0.674030160868184,
+                        "xyz": [
+                            0.7368592247404901,
+                            0.04592657797312172,
+                            0.024750244251976295
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 12,
+            "grasp_group": {
+                "grasp_170": {
+                    "confidence": 0.030738184228539467,
+                    "position": [
+                        0.13854719058144838,
+                        -0.06806187459733337,
+                        -0.04171719029545784
+                    ],
+                    "orientation": {
+                        "w": 0.16778044599569236,
+                        "xyz": [
+                            -0.6719543294460361,
+                            0.14643483961653658,
+                            0.7063171658870351
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 18,
+            "grasp_group": {
+                "grasp_242": {
+                    "confidence": 0.11532648652791977,
+                    "position": [
+                        0.15923523262608796,
+                        0.05026063567493111,
+                        0.03261713497340679
+                    ],
+                    "orientation": {
+                        "w": 0.2190322374027307,
+                        "xyz": [
+                            0.5117363823731635,
+                            0.09637694378844708,
+                            -0.825143768467035
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 20,
+            "grasp_group": {
+                "grasp_266": {
+                    "confidence": 0.23949244618415833,
+                    "position": [
+                        -0.03267588175367564,
+                        -0.039943625568412244,
+                        0.3447461761534214
+                    ],
+                    "orientation": {
+                        "w": 0.13977512665391514,
+                        "xyz": [
+                            0.29745640935699913,
+                            0.8832694116617101,
+                            0.334391604147143
+                        ]
+                    }
+                },
+                "grasp_269": {
+                    "confidence": 0.1833525449037552,
+                    "position": [
+                        -0.029702118481509387,
+                        -0.03575985261704773,
+                        0.34383073821663857
+                    ],
+                    "orientation": {
+                        "w": 0.1029815983492831,
+                        "xyz": [
+                            0.24338906546663358,
+                            0.9094384432507472,
+                            0.3210580495025207
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 23,
+            "grasp_group": {
+                "grasp_331": {
+                    "confidence": 0.761565625667572,
+                    "position": [
+                        -0.06705483689438552,
+                        0.04044317698571831,
+                        0.33631331101059914
+                    ],
+                    "orientation": {
+                        "w": 0.4069898844807538,
+                        "xyz": [
+                            0.7599755589021463,
+                            0.427218093026825,
+                            0.27254556461670093
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 24,
+            "grasp_group": {
+                "grasp_352": {
+                    "confidence": 0.13365115225315094,
+                    "position": [
+                        0.03578531846869737,
+                        -0.025139187811873853,
+                        0.3447461761534214
+                    ],
+                    "orientation": {
+                        "w": 0.28776086802332695,
+                        "xyz": [
+                            -0.768033854951459,
+                            -0.5579264022601699,
+                            0.1266325793146667
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wind chime tube",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady the chime during handling",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to separate tangled parts carefully",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "produce chime sound",
+                "hang from canopy",
+                "swing with airflow",
+                "provide acoustic element"
+            ],
+            "semantic_description": "Slender silver metallic cylindrical tube with a smooth slightly reflective surface, hanging vertically beneath the canopy.",
+            "id": 25,
+            "grasp_group": {
+                "grasp_360": {
+                    "confidence": 0.2035251408815384,
+                    "position": [
+                        -0.03180063224863261,
+                        -0.03351217263843864,
+                        0.3447461761534214
+                    ],
+                    "orientation": {
+                        "w": 0.12405108948049069,
+                        "xyz": [
+                            0.5054336539589385,
+                            0.7988831277014965,
+                            0.30155247788451983
+                        ]
+                    }
+                },
+                "grasp_371": {
+                    "confidence": 0.6912716627120972,
+                    "position": [
+                        0.04568921879399568,
+                        0.08668141684029251,
+                        0.3447461761534214
+                    ],
+                    "orientation": {
+                        "w": 0.44288310417360227,
+                        "xyz": [
+                            0.8730831509617141,
+                            -0.1573226486921157,
+                            -0.12973030391090867
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "central cord",
+            "mask_color": "Dark Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "suspend the wind sail",
+                "connect the lower sail to the chime assembly",
+                "transmit motion from the sail",
+                "support the internal striker assembly"
+            ],
+            "semantic_description": "Thin central dark cord hanging below the tubes, narrow and flexible, linking the lower sail to the central chime assembly.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind sail",
+            "mask_color": "Light Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower sail to steady or orient the wind chime",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the sail gently to pull the wind chime downward during hanging",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "catch airflow",
+                "drive tube motion",
+                "provide pull point",
+                "indicate hanging direction"
+            ],
+            "semantic_description": "Small flat oval light beige wooden sail with a matte smooth surface, suspended as the lowest visible part below the tubes.",
+            "id": 56,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Includes nonexistent/misidentified cord parts; central cord mask/color mismatched and tube suspension cords are actually top support strings, not per-tube cords."
+    }
+}

dataset/livingroom_supplies/ornaments/949b35ff81195a5ea907f7fbdaa6242f/affordance/mesh_part_seg.glb

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+size 833588