Add asset livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c

.gitattributes

@@ -7739,3 +7739,4 @@ dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/affordanc
 dataset/livingroom_supplies/ornaments/9aef7ed73af55f539aa5f9a5d101d6ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/9b29e9dfe396551899f43c09ed9b0e58/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/affordance/affordance_annot.json

@@ -0,0 +1,619 @@
+{
+    "affordances": [
+        {
+            "part_name": "plant pot with attached saucer",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pot sides to lift and relocate the potted plant",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the pot body to stabilize the plant during placement",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the lower pot body for turning or reorienting the plant",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "contain soil and roots",
+                "support the whole plant",
+                "provide main lifting surface",
+                "collect minor drainage with the attached base"
+            ],
+            "semantic_description": "Medium-sized round light blue planter with a smooth matte ceramic-like surface, stepped cylindrical profile, and an attached matching saucer-like base visible beneath the main pot.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "soil surface",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor roots",
+                "hold moisture and nutrients",
+                "fill the pot interior",
+                "support stems at the base"
+            ],
+            "semantic_description": "Dark olive-brown exposed soil with a matte granular slightly rough texture, appearing as a shallow circular top layer inside the pot around the stems.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cane stem cluster",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp a stem to steady the plant during inspection or pruning",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "pinch a stem to reorient foliage locally",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "support leaves",
+                "elevate foliage",
+                "transport water and nutrients",
+                "provide plant structure"
+            ],
+            "semantic_description": "Tall pale green cane-like stems with smooth slightly fibrous cylindrical surfaces, segmented by visible nodes, rising upright from the soil near the center of the pot.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 27,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.17
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.5263541340827942,
+                    "position": [
+                        -0.0685031225439161,
+                        -0.09450696731801145,
+                        0.02569560334086418
+                    ],
+                    "orientation": {
+                        "w": 0.17282248779424034,
+                        "xyz": [
+                            0.25548471480889806,
+                            0.7102445788902219,
+                            0.6327816261307503
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.19
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.6353936791419983,
+                    "position": [
+                        0.1356163362506777,
+                        -0.06057345445151441,
+                        0.18231605738401413
+                    ],
+                    "orientation": {
+                        "w": 0.6110708786511164,
+                        "xyz": [
+                            -0.21779828616880853,
+                            -0.7580010835590819,
+                            -0.06775429971403979
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.652606725692749,
+                    "position": [
+                        0.1318791846279055,
+                        -0.037727467220975086,
+                        0.18467431515455246
+                    ],
+                    "orientation": {
+                        "w": 0.5942998806496995,
+                        "xyz": [
+                            -0.12331740671837632,
+                            -0.7944038425824367,
+                            -0.02286927961842857
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.16
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 18,
+            "grasp_group": {
+                "grasp_46": {
+                    "confidence": 0.5223814845085144,
+                    "position": [
+                        -0.09436055622063577,
+                        -0.09074144388432615,
+                        0.15946561098098755
+                    ],
+                    "orientation": {
+                        "w": 0.5334258374354877,
+                        "xyz": [
+                            -0.275902891347609,
+                            0.7589965240044875,
+                            0.25151291627147804
+                        ]
+                    }
+                },
+                "grasp_47": {
+                    "confidence": 0.6264107823371887,
+                    "position": [
+                        -0.12602847418747842,
+                        -0.058239597332431,
+                        0.14214996248483658
+                    ],
+                    "orientation": {
+                        "w": 0.10458367063253227,
+                        "xyz": [
+                            -0.7733405815711422,
+                            -0.0933608293669711,
+                            -0.6182963337042725
+                        ]
+                    }
+                },
+                "grasp_48": {
+                    "confidence": 0.624657154083252,
+                    "position": [
+                        -0.124182935571298,
+                        -0.05606666157837026,
+                        0.14353743940591812
+                    ],
+                    "orientation": {
+                        "w": 0.09792828842037651,
+                        "xyz": [
+                            -0.7754513623560341,
+                            -0.08807129922716928,
+                            -0.6175181626475975
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.16
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 22,
+            "grasp_group": {
+                "grasp_100": {
+                    "confidence": 0.4134277105331421,
+                    "position": [
+                        0.12968366243876517,
+                        -0.10246783818001859,
+                        0.1445968970656395
+                    ],
+                    "orientation": {
+                        "w": 0.7023494700249626,
+                        "xyz": [
+                            -0.2600168950491885,
+                            -0.6286813058373966,
+                            -0.20941884331458527
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.17
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.16
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 26,
+            "grasp_group": {
+                "grasp_156": {
+                    "confidence": 0.33519813418388367,
+                    "position": [
+                        -0.11166184744797647,
+                        0.04158280466799624,
+                        0.1745607852935791
+                    ],
+                    "orientation": {
+                        "w": 0.4303157594854568,
+                        "xyz": [
+                            -0.32408431952992206,
+                            0.7226297309318516,
+                            -0.4331327428706377
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Gainsboro",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.17
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 28,
+            "grasp_group": {
+                "grasp_183": {
+                    "confidence": 0.7713136076927185,
+                    "position": [
+                        0.12864008941687644,
+                        0.021869823831366375,
+                        0.2023303583264351
+                    ],
+                    "orientation": {
+                        "w": 0.21599944172184757,
+                        "xyz": [
+                            0.856778085500262,
+                            -0.13280973687025344,
+                            -0.4490402289047274
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Midnight Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.15
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 31,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Deep Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.16
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 32,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Yellow Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 33,
+            "grasp_group": {
+                "grasp_224": {
+                    "confidence": 0.4815088212490082,
+                    "position": [
+                        -0.10921135894022882,
+                        0.018654484796570614,
+                        0.21015053242444992
+                    ],
+                    "orientation": {
+                        "w": 0.4361388490920216,
+                        "xyz": [
+                            0.191302114843291,
+                            0.8702508702609996,
+                            0.12589609993619347
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Dark Slate Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.15
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 34,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Light Salmon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.15
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 35,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Light Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.17
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 36,
+            "grasp_group": {
+                "grasp_258": {
+                    "confidence": 0.5085691213607788,
+                    "position": [
+                        0.13716322579421103,
+                        0.06193475847248919,
+                        0.1830490082502365
+                    ],
+                    "orientation": {
+                        "w": 0.2003331141349257,
+                        "xyz": [
+                            0.7930179225326294,
+                            0.18477663891861051,
+                            -0.5448364999088966
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "leaf",
+            "mask_color": "Light Steel Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch a leaf to inspect or reposition foliage",
+                    "confidence": 0.17
+                }
+            ],
+            "functional_labels": [
+                "photosynthesis",
+                "provide decorative foliage",
+                "indicate plant health",
+                "shade inner stems"
+            ],
+            "semantic_description": "Long narrow variegated leaf with pale green and creamy white coloration, a smooth slightly waxy matte surface, pointed lance shape, and outward-radiating position near the upper stems.",
+            "id": 38,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Stem cluster description/color is wrong; pot description mentions attached saucer not clearly present; leaf annotations overstate graspability."
+    }
+}

dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:658f8e2fe0f737fceaf85467c57c9348be6236c79f7a257bef88df9078fbe01b
+size 3822592

dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/houseplant_029.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>21</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>