Add asset livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7

.gitattributes

@@ -7721,3 +7721,4 @@ dataset/livingroom_supplies/ornaments/780767d373a153589d65c9ba262cb39e/affordanc
 dataset/livingroom_supplies/ornaments/789230d9487f5811aaae106b9135aa70/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/7db50e4b7b805d92aa356d4bf49aa1fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/affordance/affordance_annot.json

@@ -0,0 +1,37 @@
+{
+    "affordances": [
+        {
+            "part_name": "photo frame body",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the frame edge to pick up and reposition the photo frame",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold opposite sides of the frame to stabilize it during placement on a surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp a corner region to rotate or reorient the frame",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "surround and protect the picture",
+                "provide the main structural body",
+                "support display of the photo",
+                "offer edges for handling",
+                "define front-facing orientation"
+            ],
+            "semantic_description": "Large ornate rectangular frame with a black central body and elaborate gold-toned decorative edging, likely hard wood or resin with glossy smooth surfaces and raised scrollwork around the perimeter, enclosing the portrait at the center.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe553c18cab69618e464b630f499c4e92c9c29a891c74f5d6ac7ff066edd90ac
+size 37744524

dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/photo_frame_029.urdf

@@ -51,16 +51,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>1</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>