Add asset livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda

.gitattributes

@@ -8542,3 +8542,4 @@ dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/affordanc
 dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/21b1b6edb55f501580fb0ffc53beabda.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.815920472145081</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Top hanging loop is split from the cap/body, but this issue is not fixable by merging; rest is acceptable.","merge_groups":[]}</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>3</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/21b1b6edb55f501580fb0ffc53beabda/affordance/affordance_annot.json

@@ -0,0 +1,101 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper body with hanging tubes and internal striker",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper body from the sides to pick up and reposition the wind chime",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the tube cluster gently from the side to stabilize the object during inspection",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "lightly grasp a few lower tubes to reduce swinging during manipulation",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "support the hanging structure",
+                "suspend the chime tubes and internal striker",
+                "form the main upper assembly",
+                "produce sound when the tubes are struck"
+            ],
+            "semantic_description": "A tan to golden upper wind chime assembly consisting of a rounded dome-like top section with many thin cylindrical hanging tubes below it and a small internal hanging striker visible in some views. The surfaces appear smooth, hard, and metallic with a satin to slightly glossy finish.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wind sail",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom sail to steady the wind chime and stop swinging",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "grasp the sail to orient the chime delicately during setup",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "catch wind",
+                "transfer motion to the internal striker",
+                "induce chime movement",
+                "provide a bottom pendulum element"
+            ],
+            "semantic_description": "A tan/golden round hanging disc at the bottom, with a smooth hard surface and simple unmarked appearance, suspended below the tubes by a thin cord.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top hanging loop",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top loop to hang or unhang the wind chime from a hook",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch the loop to lift the entire wind chime vertically",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "hang from a hook",
+                "support the whole wind chime",
+                "provide top attachment point",
+                "enable placement and removal"
+            ],
+            "semantic_description": "A small narrow tan/golden loop at the very top, likely cord or metal, arched above the cap as the highest attachment feature.",
+            "id": 17,
+            "grasp_group": {
+                "grasp_54": {
+                    "confidence": 0.497806191444397,
+                    "position": [
+                        0.03896689950488508,
+                        -0.13126538880169392,
+                        0.2703727390617132
+                    ],
+                    "orientation": {
+                        "w": 0.5249741903081221,
+                        "xyz": [
+                            -0.8246873667960017,
+                            -0.15654487305290798,
+                            0.14066466961628168
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue part description/function merges separate striker; sail shape and top loop color/material description are inaccurate."
+    }
+}

dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df41d00e32af13aaf8cc5edb98b542a29abe6bac55b74cecf0a57454faca3de0
+size 1044764