Add asset livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c

.gitattributes

@@ -7705,3 +7705,4 @@ dataset/livingroom_supplies/ornaments/5e778ca120395af1ab99d6921f1a45aa/affordanc
 dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/affordance/affordance_annot.json

@@ -0,0 +1,287 @@
+{
+    "affordances": [
+        {
+            "part_name": "flowerpot",
+            "mask_color": "Dark Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pot body from the sides to lift and relocate the potted succulent",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the pot body to stabilize the plant during inspection or watering",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "contain the plant",
+                "hold the soil",
+                "provide the main lifting surface",
+                "support the plant upright"
+            ],
+            "semantic_description": "Small white planter pot with a smooth matte ceramic-like surface, rounded tapered cup shape, and broad base around the succulent.",
+            "id": 29,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "soil",
+            "mask_color": "Deep Sky Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the roots",
+                "hold moisture",
+                "provide growing medium",
+                "fill the pot interior"
+            ],
+            "semantic_description": "Dark brown soil with a matte granular texture, visible as a shallow top layer inside the pot around the plant base.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green succulent leaf with a smooth waxy surface, pointed teardrop shape, and slightly reddish tip on the upper outer rosette.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Hot Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green succulent leaf with a smooth waxy surface, pointed teardrop shape, on the outer rosette.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green succulent leaf with a smooth waxy surface, pointed teardrop shape, near the front of the rosette.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green succulent leaf with a smooth waxy surface, pointed teardrop shape, on the side of the rosette.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green to whitish succulent leaf with a smooth waxy surface, pointed teardrop shape, near the lower front cluster.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green succulent leaf with a smooth waxy surface, pointed teardrop shape, around the lower side of the rosette.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green succulent leaf with a smooth waxy surface, pointed teardrop shape, on the outer lower ring.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green succulent leaf with a smooth waxy surface, pointed teardrop shape, near the lower side of the plant.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green succulent leaf with a smooth waxy surface, pointed teardrop shape, on the side of the rosette.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green succulent leaf with a smooth waxy surface, pointed teardrop shape, on the lower outer ring.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green succulent leaf with a smooth waxy surface, pointed teardrop shape, on the side-rear foliage ring.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green succulent leaf with a smooth waxy surface, pointed teardrop shape, among the upper side leaves.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the rosette",
+                "provide protective outer foliage"
+            ],
+            "semantic_description": "Thick pale green succulent leaf with a smooth waxy surface, pointed teardrop shape, on the rear outer ring.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the inner rosette",
+                "protect the center"
+            ],
+            "semantic_description": "Small pale green succulent leaf with a smooth waxy surface, compact pointed shape, near the rosette center.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the inner rosette",
+                "protect the center"
+            ],
+            "semantic_description": "Small pale green succulent leaf with a smooth waxy surface, compact pointed shape, near the plant center.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "succulent leaf",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store water",
+                "photosynthesize",
+                "form the inner rosette",
+                "protect the center"
+            ],
+            "semantic_description": "Small pale green succulent leaf with a smooth waxy surface, compact pointed shape, in the dense central cluster.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Pot description mismatches visible shape/finish; several leaf descriptions over-specify locations/colors not reliably supported by masks/views."
+    }
+}

dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5620e959f57dd1c737b6c7c1b1e590ebf83f9a0d2e126de7e053f9fc4b276c1
+size 3821328

dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/houseplant_005.urdf

@@ -45,16 +45,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>30</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>