Add asset livingroom_supplies/ornaments/438c0b2fae2d5f1bb6a2815d126f2c06

.gitattributes

@@ -7680,3 +7680,4 @@ dataset/livingroom_supplies/ornaments/3c09bca46201589eae254b5cccc84e56/affordanc
 dataset/livingroom_supplies/ornaments/3fc07ad4674853e581280ff5dee42f0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/40e827adbd865f81870b26a246d46e86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/438c0b2fae2d5f1bb6a2815d126f2c06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/438c0b2fae2d5f1bb6a2815d126f2c06/438c0b2fae2d5f1bb6a2815d126f2c06.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>5.215121150016785</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>34</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/438c0b2fae2d5f1bb6a2815d126f2c06/affordance/affordance_annot.json

@@ -0,0 +1,650 @@
+{
+    "affordances": [
+        {
+            "part_name": "top canopy",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top canopy to lift and reposition the wind chime",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the canopy to stabilize the wind chime during inspection",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support hanging components",
+                "provide top structure",
+                "distribute suspension points",
+                "protect upper attachments"
+            ],
+            "semantic_description": "A wide shallow greenish-teal domed top piece with a smooth slightly weathered finish, forming the upper cover of the wind chime.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hanging loop",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the hanging loop to pick up or hang the wind chime",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the loop to suspend the wind chime during placement",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "hang the wind chime",
+                "provide suspension point",
+                "lift the object",
+                "indicate top orientation"
+            ],
+            "semantic_description": "A slender pale cord-like loop arching over the top canopy, with a flexible smooth appearance and sized as the main suspension loop.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_127": {
+                    "confidence": 0.5306218862533569,
+                    "position": [
+                        -0.0057622077583801,
+                        -0.027684719010721892,
+                        0.28946646489202976
+                    ],
+                    "orientation": {
+                        "w": 0.020987834193353847,
+                        "xyz": [
+                            0.02520076305741188,
+                            0.9994481477712822,
+                            -0.005275630175590102
+                        ]
+                    }
+                },
+                "grasp_139": {
+                    "confidence": 0.6148313283920288,
+                    "position": [
+                        -0.027966335852397606,
+                        0.07527965056942776,
+                        0.2746578995138407
+                    ],
+                    "orientation": {
+                        "w": 0.06437455256415975,
+                        "xyz": [
+                            0.034549676342478866,
+                            0.9686469208090477,
+                            -0.2374560583643748
+                        ]
+                    }
+                },
+                "grasp_140": {
+                    "confidence": 0.577482283115387,
+                    "position": [
+                        -0.014916184794856235,
+                        -0.034268683462869376,
+                        0.289229029789567
+                    ],
+                    "orientation": {
+                        "w": 0.03060633325176685,
+                        "xyz": [
+                            0.04880877544739446,
+                            0.998326382881666,
+                            0.0050387544709075555
+                        ]
+                    }
+                },
+                "grasp_141": {
+                    "confidence": 0.5300328135490417,
+                    "position": [
+                        -0.006609897100133821,
+                        -0.03266398486448452,
+                        0.2970949951559305
+                    ],
+                    "orientation": {
+                        "w": 0.008842188881709227,
+                        "xyz": [
+                            -0.06638700300212984,
+                            -0.9975255433114194,
+                            -0.02138625655491997
+                        ]
+                    }
+                },
+                "grasp_142": {
+                    "confidence": 0.5074548125267029,
+                    "position": [
+                        -0.019926099543226883,
+                        -0.04147958633257076,
+                        0.2815857473760843
+                    ],
+                    "orientation": {
+                        "w": 0.04833538636109087,
+                        "xyz": [
+                            -0.09244503302892483,
+                            0.9937556374405374,
+                            0.039589636885894564
+                        ]
+                    }
+                },
+                "grasp_144": {
+                    "confidence": 0.48256877064704895,
+                    "position": [
+                        -0.015063207101775333,
+                        -0.07319170486880466,
+                        0.2752507273107767
+                    ],
+                    "orientation": {
+                        "w": 0.22327865503210897,
+                        "xyz": [
+                            -0.9743143964795072,
+                            -0.004819496242684407,
+                            -0.028894142586223047
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom windcatcher ball",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the large bottom ball to steady the wind chime",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the bottom ball to manipulate the hanging assembly",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "act as windcatcher",
+                "add weight",
+                "pull the lower assembly downward",
+                "drive motion in the hanging parts"
+            ],
+            "semantic_description": "A large greenish-teal spherical hanging ball with a smooth matte surface, suspended at the very bottom beneath the tubes.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "connector ring",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lower ball to cord",
+                "join hanging elements",
+                "transmit motion"
+            ],
+            "semantic_description": "A very small ring-like connector beneath the hanging assembly, linking the bottom ball to the central cord; it appears as a tiny metal-like loop.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chime tube",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady or inspect the chime",
+                    "confidence": 0.44
+                },
+                {
+                    "scenario": "pinch a tube to reorient the hanging set",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "resonate when struck",
+                "produce chime sound",
+                "hang vertically",
+                "provide acoustic body"
+            ],
+            "semantic_description": "A long narrow silver metallic tube with a reflective glossy finish and smooth hard surface, hanging vertically beneath the canopy.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chime tube",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady or inspect the chime",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "pinch a tube to reorient the hanging set",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "resonate when struck",
+                "produce chime sound",
+                "hang vertically",
+                "provide acoustic body"
+            ],
+            "semantic_description": "A long narrow silver metallic tube with a reflective glossy finish and smooth hard surface, hanging vertically among the other chimes.",
+            "id": 15,
+            "grasp_group": {
+                "grasp_153": {
+                    "confidence": 0.08681055158376694,
+                    "position": [
+                        -0.014803495694650337,
+                        0.1263502289657481,
+                        -0.057549936696887016
+                    ],
+                    "orientation": {
+                        "w": 0.8659949568525064,
+                        "xyz": [
+                            0.49280572928492644,
+                            -0.020768370182669083,
+                            0.08224307077154504
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "chime tube",
+            "mask_color": "Deep Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady or inspect the chime",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "pinch a tube to reorient the hanging set",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "resonate when struck",
+                "produce chime sound",
+                "hang vertically",
+                "provide acoustic body"
+            ],
+            "semantic_description": "A long narrow silver metallic tube with a reflective finish and smooth hard surface, positioned centrally in the hanging cluster.",
+            "id": 32,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chime tube",
+            "mask_color": "Midnight Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady or inspect the chime",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to reorient the hanging set",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "resonate when struck",
+                "produce chime sound",
+                "hang vertically",
+                "provide acoustic body"
+            ],
+            "semantic_description": "A slim vertical silver chime tube with a glossy reflective metal surface and smooth hard texture, hanging near the outer side.",
+            "id": 31,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chime tube",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady or inspect the chime",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch a tube to reorient the hanging set",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "resonate when struck",
+                "produce chime sound",
+                "hang vertically",
+                "provide acoustic body"
+            ],
+            "semantic_description": "A slim cylindrical silver metal tube with a reflective smooth finish, hanging vertically beneath the canopy among the other chimes.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chime tube",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady or inspect the chime",
+                    "confidence": 0.4
+                },
+                {
+                    "scenario": "pinch a tube to reorient the hanging set",
+                    "confidence": 0.33
+                }
+            ],
+            "functional_labels": [
+                "resonate when struck",
+                "produce chime sound",
+                "hang vertically",
+                "provide acoustic body"
+            ],
+            "semantic_description": "A narrow silver metallic chime tube with a glossy reflective surface and smooth hard texture, suspended near the center of the cluster.",
+            "id": 20,
+            "grasp_group": {
+                "grasp_159": {
+                    "confidence": 0.5094701051712036,
+                    "position": [
+                        -0.12786764322663657,
+                        -0.05041865509701893,
+                        0.21992910839617252
+                    ],
+                    "orientation": {
+                        "w": 0.06919960538764464,
+                        "xyz": [
+                            -0.7880771138648023,
+                            -0.2964459469051123,
+                            -0.5350380152664379
+                        ]
+                    }
+                },
+                "grasp_166": {
+                    "confidence": 0.4858946204185486,
+                    "position": [
+                        0.15277386785601266,
+                        -0.04541272547794506,
+                        0.17748970724642277
+                    ],
+                    "orientation": {
+                        "w": 0.6308763385311241,
+                        "xyz": [
+                            -0.1521252328446715,
+                            -0.7546729751289452,
+                            -0.09654874221626973
+                        ]
+                    }
+                },
+                "grasp_167": {
+                    "confidence": 0.47982797026634216,
+                    "position": [
+                        0.15638181151007302,
+                        0.025896623090375215,
+                        0.1749249342828989
+                    ],
+                    "orientation": {
+                        "w": 0.6412457894425002,
+                        "xyz": [
+                            0.07034390458716305,
+                            -0.7637437406983365,
+                            0.023474904766775766
+                        ]
+                    }
+                },
+                "grasp_175": {
+                    "confidence": 0.46594855189323425,
+                    "position": [
+                        -0.13648701130296104,
+                        -0.052675219892989844,
+                        0.18781437911093235
+                    ],
+                    "orientation": {
+                        "w": 0.12057217112469477,
+                        "xyz": [
+                            -0.7545926683636317,
+                            -0.22223237445952837,
+                            -0.6055287178525981
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "chime tube",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual tube to steady or inspect the chime",
+                    "confidence": 0.39
+                },
+                {
+                    "scenario": "pinch a tube to reorient the hanging set",
+                    "confidence": 0.32
+                }
+            ],
+            "functional_labels": [
+                "resonate when struck",
+                "produce chime sound",
+                "hang vertically",
+                "provide acoustic body"
+            ],
+            "semantic_description": "A long silver cylindrical tube with a reflective smooth metal surface, hanging vertically as one of the sounding elements.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "disc pendant",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a small side pendant to steady the wind chime",
+                    "confidence": 0.49
+                },
+                {
+                    "scenario": "hold a pendant to separate tangled hanging parts",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "add decorative weight",
+                "swing in the breeze",
+                "visually ornament the chime",
+                "slightly influence motion"
+            ],
+            "semantic_description": "A small round pendant disc with a smooth matte surface, hanging from a thin cord near the outer side of the chime.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "disc pendant",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a small side pendant to steady the wind chime",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold a pendant to separate tangled hanging parts",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "add decorative weight",
+                "swing in the breeze",
+                "visually ornament the chime",
+                "slightly influence motion"
+            ],
+            "semantic_description": "A small orange round pendant disc with a smooth matte surface, suspended near the perimeter below the canopy.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "disc pendant",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a small side pendant to steady the wind chime",
+                    "confidence": 0.51
+                },
+                {
+                    "scenario": "hold a pendant to separate tangled hanging parts",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "add decorative weight",
+                "swing in the breeze",
+                "visually ornament the chime",
+                "slightly influence motion"
+            ],
+            "semantic_description": "A small green round pendant disc with a matte finish and smooth hard surface, hanging among the tubes on a thin string.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "disc pendant",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a small side pendant to steady the wind chime",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold a pendant to separate tangled hanging parts",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "add decorative weight",
+                "swing in the breeze",
+                "visually ornament the chime",
+                "slightly influence motion"
+            ],
+            "semantic_description": "A small yellow circular pendant disc with a matte smooth surface, attached near the lower side of the hanging cluster.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "disc pendant",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a small side pendant to steady the wind chime",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold a pendant to separate tangled hanging parts",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "add decorative weight",
+                "swing in the breeze",
+                "visually ornament the chime",
+                "slightly influence motion"
+            ],
+            "semantic_description": "A small blue-green round pendant disc with a matte smooth hard surface, hanging outward from the canopy among the chime elements.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "disc pendant",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a small side pendant to steady the wind chime",
+                    "confidence": 0.47
+                },
+                {
+                    "scenario": "hold a pendant to separate tangled hanging parts",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "add decorative weight",
+                "swing in the breeze",
+                "visually ornament the chime",
+                "slightly influence motion"
+            ],
+            "semantic_description": "A small brownish-orange circular pendant disc with a matte finish and smooth hard surface, suspended near the outer ring of the chime.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_151": {
+                    "confidence": 0.09390942007303238,
+                    "position": [
+                        0.00043262497638352215,
+                        -0.13831606012536213,
+                        -0.021366963163018227
+                    ],
+                    "orientation": {
+                        "w": 0.7439582949583418,
+                        "xyz": [
+                            -0.6673641863068366,
+                            -0.027952391450366987,
+                            0.019229196808414003
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "disc pendant",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a small side pendant to steady the wind chime",
+                    "confidence": 0.49
+                },
+                {
+                    "scenario": "hold a pendant to separate tangled hanging parts",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "add decorative weight",
+                "swing in the breeze",
+                "visually ornament the chime",
+                "slightly influence motion"
+            ],
+            "semantic_description": "A small light-green round pendant disc with a smooth hard surface and matte finish, hanging below the canopy on a thin cord.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "disc pendant",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a small side pendant to steady the wind chime",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold a pendant to separate tangled hanging parts",
+                    "confidence": 0.47
+                }
+            ],
+            "functional_labels": [
+                "add decorative weight",
+                "swing in the breeze",
+                "visually ornament the chime",
+                "slightly influence motion"
+            ],
+            "semantic_description": "A small red circular pendant disc with a matte smooth hard surface, hanging at the side of the wind chime cluster.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions use mask colors as real colors; top, bottom ball, and multiple pendants are misdescribed."
+    }
+}

dataset/livingroom_supplies/ornaments/438c0b2fae2d5f1bb6a2815d126f2c06/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b0a1053afa9fd8a942f9e70126adb2a7b6cd104e3ea8a46788e1e37c3b967a4
+size 1251068