Add asset livingroom_supplies/ornaments/d1fab55c4dc65f6ba5d6537e0e8878f1

.gitattributes

@@ -7766,3 +7766,4 @@ dataset/livingroom_supplies/ornaments/cca53a72e8e45d1bbb993976d6dbc321/affordanc
 dataset/livingroom_supplies/ornaments/cb58c0097f725447ad8b0569d62649d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/ccf497766c9557e8bdad8c5b63943379/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/d13ebf06d7985f17a3b69548f2255b71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/d1fab55c4dc65f6ba5d6537e0e8878f1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/d1fab55c4dc65f6ba5d6537e0e8878f1/affordance/affordance_annot.json

@@ -0,0 +1,78 @@
+{
+    "affordances": [
+        {
+            "part_name": "plant pot with attached saucer/base",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pot body from opposite sides to lift and relocate the potted plant",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the pot body to stabilize the plant during watering or inspection",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain soil and roots",
+                "support the plant upright",
+                "main lifting surface",
+                "provide base stability"
+            ],
+            "semantic_description": "Medium-sized white pot with a smooth hard ceramic-like body and satin finish, rounded slightly flared shape, with the integrated visible base/saucer area included in the same segmented part at the bottom of the plant.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.7056844234466553,
+                    "position": [
+                        -0.11137253878405318,
+                        -0.12946959771215916,
+                        0.04575982131063938
+                    ],
+                    "orientation": {
+                        "w": 0.3892583967708564,
+                        "xyz": [
+                            -0.5467300511731676,
+                            -0.1349901531535037,
+                            -0.7289319654392726
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.3430914878845215,
+                    "position": [
+                        -0.07823877123882994,
+                        -0.14292855001986027,
+                        0.09424560889601707
+                    ],
+                    "orientation": {
+                        "w": 0.608952844638341,
+                        "xyz": [
+                            -0.3113311719646445,
+                            0.6283615798123044,
+                            0.370689977455257
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "single leaf",
+            "mask_color": "Sea Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "photosynthesize",
+                "help form the plant foliage"
+            ],
+            "semantic_description": "One broad oval leaf in the upper foliage, dark green on the visible upper surface with a smooth slightly glossy texture and gently curved shape.",
+            "id": 27,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Leaf mask color and visual description are incorrect; selected leaf is sea green and not dark green upper foliage."
+    }
+}

dataset/livingroom_supplies/ornaments/d1fab55c4dc65f6ba5d6537e0e8878f1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b82e7224069c8ce90cd678b8cbbf4602aaa6f3a9b3550d0a0d11c93a576ee58
+size 3832312

dataset/livingroom_supplies/ornaments/d1fab55c4dc65f6ba5d6537e0e8878f1/houseplant_011.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>33</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>