Add asset livingroom_supplies/ornaments/35dd632a30b851feb6a0b3f658ee5683

.gitattributes

@@ -7667,3 +7667,4 @@ dataset/livingroom_supplies/ornaments/2e19fa45457f5f7583263c43033fe682/affordanc
 dataset/livingroom_supplies/ornaments/32cf2ba420cb58309ec8f46a5e04baa2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/34a6fd29db4d5a809fbfc17117bccb1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/35dd632a30b851feb6a0b3f658ee5683/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/35dd632a30b851feb6a0b3f658ee5683/35dd632a30b851feb6a0b3f658ee5683.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.721850752830505</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>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/35dd632a30b851feb6a0b3f658ee5683/affordance/affordance_annot.json

@@ -0,0 +1,133 @@
+{
+    "affordances": [
+        {
+            "part_name": "wind chime striker",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the round striker to steady the wind chime during pickup or placement",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the striker to damp or stop the chime's motion",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "strike the hanging tubes",
+                "produce chime sound",
+                "add swinging mass",
+                "hang below the tubes as the impact element"
+            ],
+            "semantic_description": "Small round orange-brown ball at the bottom center, likely painted wood with a matte to satin finish, hard smooth surface, and simple spherical shape suspended below the tubes.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top cap",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top cap to lift or reposition the wind chime when the hook is inaccessible",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the top cap to stabilize the object while untangling the hanging parts",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "support the hanging tubes",
+                "anchor the suspension cords",
+                "provide top structure",
+                "cover the upper assembly"
+            ],
+            "semantic_description": "Domed circular orange-brown top piece near the upper end, likely painted wood with a matte finish, hard smooth texture, and medium size forming the main upper housing.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hanging tubes and cords",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp several hanging tubes together to carry the wind chime carefully",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "pinch a tube cluster to stabilize the object during inspection",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the cords near the top briefly while untangling the assembly",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "resonate to create sound",
+                "hang below the top cap",
+                "suspend the striker and tubes from the upper assembly",
+                "provide decorative motion"
+            ],
+            "semantic_description": "Cluster of slender metallic silver to gray cylindrical tubes hanging vertically beneath the top cap, together with thin dark suspension cords. The tubes appear smooth, hard, and slightly reflective, with elongated narrow forms arranged around the center.",
+            "id": 20,
+            "grasp_group": {
+                "grasp_45": {
+                    "confidence": 0.75827556848526,
+                    "position": [
+                        0.026280024540028535,
+                        0.11134313207003288,
+                        -0.12490318901836872
+                    ],
+                    "orientation": {
+                        "w": 0.7417006978603583,
+                        "xyz": [
+                            0.6595683437714251,
+                            -0.0800289760412437,
+                            -0.09189688613802856
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.7297319769859314,
+                    "position": [
+                        0.03153652090986725,
+                        0.10599585782620125,
+                        -0.11723898537456989
+                    ],
+                    "orientation": {
+                        "w": 0.7637079040603892,
+                        "xyz": [
+                            0.6287175408688744,
+                            -0.09936305006173451,
+                            -0.10766371423052423
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.7283206582069397,
+                    "position": [
+                        -0.030433089021244086,
+                        -0.11829063881305046,
+                        -0.09151043929159641
+                    ],
+                    "orientation": {
+                        "w": 0.6920376850693079,
+                        "xyz": [
+                            -0.7089389273630752,
+                            0.08407674776342411,
+                            -0.10686692752545977
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/livingroom_supplies/ornaments/35dd632a30b851feb6a0b3f658ee5683/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf1dcc81d35d4dc7d98704fbbd4e575390ade90f453fc515caec1813bc3a5add
+size 676256