Add asset livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032

.gitattributes

@@ -7707,3 +7707,4 @@ dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/affordanc
 dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/61e971553f625e2e8fd5017fd144aebe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/68171487d2145a7ab744c12dbce62f44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/affordance/affordance_annot.json

@@ -0,0 +1,68 @@
+{
+    "affordances": [
+        {
+            "part_name": "photo frame body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer frame edge to pick up and move the photo frame",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the frame sides to place or align the photo frame on a surface",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp the frame body to stabilize it while inserting or removing the picture insert",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "support the central insert or backing",
+                "protect the displayed photo area",
+                "provide the main grasping structure",
+                "define the decorative border",
+                "rest on a surface for display"
+            ],
+            "semantic_description": "Large ornate light cream or beige frame made of rigid carved-looking material with a satin to semi-gloss finish, hard smooth feel, raised floral scrollwork, and an irregular rectangular border around the center opening.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.9725781083106995,
+                    "position": [
+                        0.20080549595877528,
+                        0.013431470142677426,
+                        0.0015385653532575816
+                    ],
+                    "orientation": {
+                        "w": 0.04393385856783977,
+                        "xyz": [
+                            0.7067810937906479,
+                            0.03139910064078988,
+                            -0.7053682711962496
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "center insert area",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark the photo opening area",
+                "occupy the center inset region",
+                "indicate where a photo or protective cover would be visible"
+            ],
+            "semantic_description": "Flat light off-white to pale gray rectangular inset area within the middle of the frame, smooth and matte-looking, recessed behind the surrounding decorative border.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ef6c0813161807a2920ff883c6b9c2bd99f76fb38f5f469e97875058c9670a6
+size 37293096

dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/photo_frame_027.urdf

@@ -51,16 +51,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>2</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>