Add asset livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf

.gitattributes

@@ -7749,3 +7749,4 @@ dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/affordanc
 dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/b7c9703a22de5af6afa59ad085ffe0f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/affordance/affordance_annot.json

@@ -0,0 +1,233 @@
+{
+    "affordances": [
+        {
+            "part_name": "plant pot",
+            "mask_color": "Deep Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pot sides to lift and move the potted succulent",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the pot to stabilize the plant during placement or transport",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "contain soil",
+                "support the plant",
+                "provide main lifting surface",
+                "keep the plant upright"
+            ],
+            "semantic_description": "Small white pot with a smooth matte ceramic-like surface, rounded tapered cylindrical shape, and a wider upper opening beneath the plant.",
+            "id": 32,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.4013731777667999,
+                    "position": [
+                        -0.005532020775717683,
+                        0.08331661345437169,
+                        0.10480640851892531
+                    ],
+                    "orientation": {
+                        "w": 0.21809195881563015,
+                        "xyz": [
+                            0.5209205914345438,
+                            -0.7956387032150039,
+                            0.2191727375058173
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.40585047006607056,
+                    "position": [
+                        -0.035674727594596334,
+                        0.11921237083151937,
+                        0.06236948096193373
+                    ],
+                    "orientation": {
+                        "w": 0.3294634215965874,
+                        "xyz": [
+                            0.6541131420409901,
+                            -0.5261825030883596,
+                            0.432113208179062
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.19672486186027527,
+                    "position": [
+                        -0.022054567074519582,
+                        0.012784651946276426,
+                        0.12642421596683562
+                    ],
+                    "orientation": {
+                        "w": 0.040887357482802096,
+                        "xyz": [
+                            -0.8849869373974126,
+                            -0.46362132689396096,
+                            0.0134762711127578
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.4733501970767975,
+                    "position": [
+                        -0.04654032651160378,
+                        0.11877504410222173,
+                        0.07370831840671599
+                    ],
+                    "orientation": {
+                        "w": 0.3051258570994415,
+                        "xyz": [
+                            0.6970251921958267,
+                            -0.49112874136824025,
+                            0.42408330806075106
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.47366365790367126,
+                    "position": [
+                        -0.049048638975364156,
+                        0.11286524357274175,
+                        0.07299873256124556
+                    ],
+                    "orientation": {
+                        "w": 0.31385452409929715,
+                        "xyz": [
+                            0.736845812381171,
+                            -0.4343018171127053,
+                            0.4122323593937502
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.4471227824687958,
+                    "position": [
+                        -0.05464010227296967,
+                        0.11746362270787358,
+                        0.06402318947948515
+                    ],
+                    "orientation": {
+                        "w": 0.3459316646494118,
+                        "xyz": [
+                            0.7297143915637553,
+                            -0.39622339074619495,
+                            0.43686979154344485
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.36749517917633057,
+                    "position": [
+                        -0.04375509459350724,
+                        0.1268148091621697,
+                        0.04782177903689444
+                    ],
+                    "orientation": {
+                        "w": 0.37853624152485726,
+                        "xyz": [
+                            0.647342142056906,
+                            -0.45709395601563807,
+                            0.4782505413937201
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.30510565638542175,
+                    "position": [
+                        -0.04984589207742829,
+                        0.08707768144086003,
+                        0.09800551855005324
+                    ],
+                    "orientation": {
+                        "w": 0.28451342966530707,
+                        "xyz": [
+                            0.21117098641271848,
+                            0.898874065082552,
+                            -0.25784556998236796
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.3633028566837311,
+                    "position": [
+                        -0.05735858443949837,
+                        0.128631052095443,
+                        0.041790671879425645
+                    ],
+                    "orientation": {
+                        "w": 0.3394268149929403,
+                        "xyz": [
+                            0.6450190899738559,
+                            -0.42638610786695674,
+                            0.535662858383064
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "soil",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor roots",
+                "hold moisture",
+                "provide growing medium"
+            ],
+            "semantic_description": "Dark brown loose granular soil with a matte rough texture visible in the top opening of the pot around the plant base.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "photosynthesis",
+                "store water",
+                "protect inner growth"
+            ],
+            "semantic_description": "One thick fleshy succulent leaf in the rosette, pale green to nearly white with a matte powdery surface and pointed oval shape.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower offset leaves cluster",
+            "mask_color": "Deep Sky Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "photosynthesis",
+                "store water",
+                "new offset growth"
+            ],
+            "semantic_description": "Small pale green clustered succulent leaves positioned low near the main stem under the main rosette, visible as a compact offset near the pot rim.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stem",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support leaves",
+                "connect foliage to roots",
+                "elevate the rosette"
+            ],
+            "semantic_description": "Short light green to tan stem with a matte surface and narrow cylindrical form, centered above the pot and partly hidden by leaves.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and part identities mismatch; white is multiple leaves, not one leaf, and several described colors don't match segmentation."
+    }
+}

dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83941860216b4f7d165b018c92cc53cd30f380f5a69a8806b3b56c9d83b6b0db
+size 3824932

dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/houseplant_010.urdf

@@ -45,16 +45,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>36</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>