Add asset livingroom_supplies/ornaments/7cacd12e2206577684be506647ccd1d4

.gitattributes

@@ -7719,4 +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/7cacd12e2206577684be506647ccd1d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/7cacd12e2206577684be506647ccd1d4/affordance/affordance_annot.json

@@ -0,0 +1,247 @@
+{
+    "affordances": [
+        {
+            "part_name": "candle tray",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray rim to lift or reposition the candle holder",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the tray edge to stabilize the holder during placement",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "hold a candle",
+                "catch wax drips",
+                "provide a top platform",
+                "support the candle above the frame"
+            ],
+            "semantic_description": "Shallow round black metal tray at the top with a slightly reflective smooth finish, hard texture, raised perforated rim, and medium size relative to the stand.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.6447759866714478,
+                    "position": [
+                        -0.10779402480693534,
+                        0.04986683194874786,
+                        0.06275277025997639
+                    ],
+                    "orientation": {
+                        "w": 0.6797302039414843,
+                        "xyz": [
+                            0.1324686905886056,
+                            0.7113740868385091,
+                            -0.11985743380402222
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.6413823962211609,
+                    "position": [
+                        -0.11649870203109458,
+                        0.01515895509510301,
+                        0.0523719172924757
+                    ],
+                    "orientation": {
+                        "w": 0.7147382966915632,
+                        "xyz": [
+                            -0.16401239892406722,
+                            0.6735320760149887,
+                            -0.09275582364765833
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.6304653882980347,
+                    "position": [
+                        -0.11645665840478614,
+                        -0.011465033428976312,
+                        0.0556636955589056
+                    ],
+                    "orientation": {
+                        "w": 0.7075317259594961,
+                        "xyz": [
+                            0.006761464684487474,
+                            0.7062281272266512,
+                            0.02439204112069129
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.593898355960846,
+                    "position": [
+                        -0.11446601228090003,
+                        -0.03651601160527207,
+                        0.047713590785861015
+                    ],
+                    "orientation": {
+                        "w": 0.7073776921870852,
+                        "xyz": [
+                            0.025058115360403352,
+                            0.6969741736618551,
+                            0.11496039621988074
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.5832371115684509,
+                    "position": [
+                        0.11604218854336068,
+                        -0.01413967544795014,
+                        0.05589278228580952
+                    ],
+                    "orientation": {
+                        "w": 0.7159456980994627,
+                        "xyz": [
+                            0.026983586762673158,
+                            -0.696635793391113,
+                            -0.03731239451749433
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.5785941481590271,
+                    "position": [
+                        -0.11468630359740928,
+                        0.0007141164969652891,
+                        0.055808885022997856
+                    ],
+                    "orientation": {
+                        "w": 0.7081891912427615,
+                        "xyz": [
+                            0.0023742513530773633,
+                            0.7059965847564722,
+                            0.005590585804119891
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.5762925744056702,
+                    "position": [
+                        -0.10253569559426978,
+                        0.06590118174790405,
+                        0.056823158636689186
+                    ],
+                    "orientation": {
+                        "w": 0.6701639697587705,
+                        "xyz": [
+                            0.20243586377765996,
+                            0.6948484075943969,
+                            -0.16457723158836354
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.5691494345664978,
+                    "position": [
+                        0.11302035226253793,
+                        0.013634192844619974,
+                        0.06104634143412113
+                    ],
+                    "orientation": {
+                        "w": 0.08571923003048104,
+                        "xyz": [
+                            0.7061025282940301,
+                            0.047990680175580724,
+                            -0.7012619537348687
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "stand frame",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a vertical leg or side bar to pick up the candle holder",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the frame to steady the object while placing a candle",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "support the candle tray",
+                "elevate the candle",
+                "stabilize the holder",
+                "provide structural connection to the lower frame"
+            ],
+            "semantic_description": "Tall open black metal frame made of cylindrical rods and rounded joints, with a semi-gloss smooth hard surface forming the legs and lower support geometry around the object.",
+            "id": 22,
+            "grasp_group": {
+                "grasp_32": {
+                    "confidence": 0.4004460871219635,
+                    "position": [
+                        -0.11320076213451102,
+                        -0.008117518300423399,
+                        0.04766596667468548
+                    ],
+                    "orientation": {
+                        "w": 0.4898819507279551,
+                        "xyz": [
+                            0.49765439681227824,
+                            0.5290564679965885,
+                            0.48213590340831963
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.30676934123039246,
+                    "position": [
+                        -0.10103635565610602,
+                        -0.006224119017133489,
+                        0.09269301034510136
+                    ],
+                    "orientation": {
+                        "w": 0.36517833596296584,
+                        "xyz": [
+                            -0.6135054779854611,
+                            0.6081042360265282,
+                            -0.3470807536463853
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper support shelf",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the underside of the tray",
+                "connect the tray to the frame",
+                "stiffen the upper structure",
+                "help distribute load from the top dish"
+            ],
+            "semantic_description": "Small flat black metal support panel or bracket directly beneath the tray, visible between the upper legs, with a smooth hard finish and horizontal placement near the top of the stand.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center fastener",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten the tray to the support structure",
+                "join central components",
+                "provide structural attachment point"
+            ],
+            "semantic_description": "Small round black metal fastener head at the center of the top tray, with a smooth slightly reflective finish and low-profile circular shape; a matching central stem is visible from below in underside views.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/livingroom_supplies/ornaments/7cacd12e2206577684be506647ccd1d4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80bbc14ddf7672689bcd1ca190026db0e414512ef6c4b5db86145cde9bcf04b2
+size 3820420

dataset/livingroom_supplies/ornaments/7cacd12e2206577684be506647ccd1d4/candle_holder_038.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>4</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>