Add asset livingroom_supplies/ornaments/fd7f1164015e51ed8e3375d7a9137d6f

.gitattributes

@@ -7789,4 +7789,4 @@ dataset/livingroom_supplies/ornaments/f4c2a3a8c660559cb91261078021ccde/affordanc
 dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/f89b402c224f57dba99b858d58ef90b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/fbdea032d31d5446914ef7ddf375315d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/fc73b535af2a580093ddde8d5a24b2f4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/fd7f1164015e51ed8e3375d7a9137d6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/fd7f1164015e51ed8e3375d7a9137d6f/affordance/affordance_annot.json

@@ -0,0 +1,432 @@
+{
+    "affordances": [
+        {
+            "part_name": "base of candle holder",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the wide base to lift and relocate the candle holder",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the base to stabilize the object during placement",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "support the whole structure",
+                "provide standing stability",
+                "distribute weight on a surface",
+                "main contact with tabletop"
+            ],
+            "semantic_description": "Large ornate bronze-toned metal base with an aged mildly reflective finish, embossed floral relief, and a broad scalloped footprint at the bottom of the candle holder.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top plate of base",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp around the central upper base plate to lift the candle holder from below the arms",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the upper base plate area to steady the object while repositioning",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support the central stem",
+                "transfer load to the base",
+                "reinforce structure",
+                "provide intermediate mounting surface"
+            ],
+            "semantic_description": "Round bronze-gold metal plate above the lower base with ornate engraved detail, a hard slightly reflective surface, and a broad shallow dome shape centered under the stem.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "central stem",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the vertical stem to lift the candle holder",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the stem to rotate and orient the object during placement",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "connect base to candle arms",
+                "provide main vertical support",
+                "serve as central grasp region",
+                "raise candles above the base"
+            ],
+            "semantic_description": "Tall turned bronze-colored metal stem with a hard smooth-to-ridged texture, mildly reflective aged finish, and stacked bulbous sections running up the center.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_60": {
+                    "confidence": 0.8513007760047913,
+                    "position": [
+                        -0.009825771761825308,
+                        0.10554055997636169,
+                        -0.08419512771070004
+                    ],
+                    "orientation": {
+                        "w": 0.047095349375744396,
+                        "xyz": [
+                            -0.03291377008884316,
+                            0.6533758020050993,
+                            -0.7548501660329079
+                        ]
+                    }
+                },
+                "grasp_66": {
+                    "confidence": 0.8219099640846252,
+                    "position": [
+                        -0.0058837161341216415,
+                        0.10320919135119766,
+                        -0.08160057850182056
+                    ],
+                    "orientation": {
+                        "w": 0.06316501743324464,
+                        "xyz": [
+                            0.09867893457673842,
+                            -0.6918730104106005,
+                            0.7124495672739443
+                        ]
+                    }
+                },
+                "grasp_72": {
+                    "confidence": 0.7979119420051575,
+                    "position": [
+                        0.03713205541134812,
+                        -0.09208667150232941,
+                        -0.08114187978208065
+                    ],
+                    "orientation": {
+                        "w": 0.7534511103917069,
+                        "xyz": [
+                            -0.6236255716033693,
+                            -0.15290906633883583,
+                            0.14149695446637733
+                        ]
+                    }
+                },
+                "grasp_73": {
+                    "confidence": 0.7958214282989502,
+                    "position": [
+                        0.006347409827867523,
+                        0.08962196239735931,
+                        -0.08519076369702816
+                    ],
+                    "orientation": {
+                        "w": 0.8037297115306846,
+                        "xyz": [
+                            0.5945869177818979,
+                            -0.0081440447978528,
+                            -0.020460267343205087
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "decorative center ornament",
+            "mask_color": "Light Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the stem-base junction",
+                "visually accent the structure",
+                "cover the front of the stem-base transition"
+            ],
+            "semantic_description": "Leaf-like pale metallic ornament with intricate relief and a hard textured surface, mounted at the front of the stem above the base as a medium-sized decorative accent.",
+            "id": null
+        },
+        {
+            "part_name": "left curved arm",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "carefully grasp one arm to steady the candle holder during inspection",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "lightly hold the arm to reorient the object without lifting fully",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "support a side candle cup",
+                "extend candle position outward",
+                "balance the left side of the holder"
+            ],
+            "semantic_description": "Curving bronze metal arm with ornate scrollwork, hard textured surface, and an aged matte-reflective finish extending from the center toward the left candle cup.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right curved arm",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "carefully grasp one arm to steady the candle holder during inspection",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "lightly hold the arm to reorient the object without lifting fully",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "support a side candle cup",
+                "extend candle position outward",
+                "balance the right side of the holder"
+            ],
+            "semantic_description": "Curving bronze metal arm with ornate scroll details, hard textured feel, and an aged matte-reflective finish extending from the center toward the right candle cup.",
+            "id": 14,
+            "grasp_group": {
+                "grasp_97": {
+                    "confidence": 0.08394623547792435,
+                    "position": [
+                        0.09873396615148522,
+                        0.02351009042467922,
+                        0.06667778082191944
+                    ],
+                    "orientation": {
+                        "w": 0.6144178419145767,
+                        "xyz": [
+                            0.467687026068112,
+                            -0.5681900197695199,
+                            -0.2844638160098947
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "left arm connector",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect left arm segments",
+                "reinforce ornamental arm joint",
+                "transmit load to the cup support"
+            ],
+            "semantic_description": "Small decorative bronze metal joint piece with a hard textured surface and curled shape, positioned under the left side arm near the outer support.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right arm connector",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect right arm segments",
+                "reinforce ornamental arm joint",
+                "transmit load to the cup support"
+            ],
+            "semantic_description": "Small decorative bronze metal joint piece with a hard textured surface and curled shape, positioned under the right side arm near the outer support.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left candle cup",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold the left candle",
+                "catch wax drips",
+                "provide a seat for the candle body"
+            ],
+            "semantic_description": "Round bronze metal drip cup with an ornate raised edge, hard slightly rough surface, and shallow dish form beneath the left candle.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right candle cup",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold the right candle",
+                "catch wax drips",
+                "provide a seat for the candle body"
+            ],
+            "semantic_description": "Round bronze metal drip cup with an ornate raised edge, hard slightly rough surface, and shallow dish form beneath the right candle.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center candle cup",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold the center candle",
+                "catch wax drips",
+                "provide a seat for the candle body"
+            ],
+            "semantic_description": "Round bronze metal drip cup with an ornate raised edge, hard slightly rough surface, and shallow dish form beneath the center candle at the top.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left candle holder collar",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the candle above the cup",
+                "center the candle base",
+                "connect cup to candle socket"
+            ],
+            "semantic_description": "Short bronze-toned metal collar with a smooth hard surface and slightly reflective finish, positioned between the left candle and its drip cup.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right candle holder collar",
+            "mask_color": "Deep Sky Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the candle above the cup",
+                "center the candle base",
+                "connect cup to candle socket"
+            ],
+            "semantic_description": "Short bronze-toned metal collar with a smooth hard surface and slightly reflective finish, positioned between the right candle and its drip cup.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center candle holder collar",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the candle above the cup",
+                "center the candle base",
+                "connect cup to candle socket"
+            ],
+            "semantic_description": "Short bronze-toned metal collar with a smooth hard surface and slightly reflective finish, positioned between the center candle and its drip cup.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left candle body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the candle body to replace or remove the candle from its cup",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide wax fuel",
+                "hold the wick",
+                "emit candlelight when lit"
+            ],
+            "semantic_description": "Short cream-colored wax candle with a matte smooth surface, slightly melted contours, and a cylindrical body seated in the left cup.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right candle body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the candle body to replace or remove the candle from its cup",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide wax fuel",
+                "hold the wick",
+                "emit candlelight when lit"
+            ],
+            "semantic_description": "Short cream-colored wax candle with a matte smooth surface, slightly melted contours, and a cylindrical body seated in the right cup.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center candle body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the candle body to replace or remove the candle from its cup",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "provide wax fuel",
+                "hold the wick",
+                "emit candlelight when lit"
+            ],
+            "semantic_description": "Short cream-colored wax candle with a matte smooth surface, slightly melted contours, and a cylindrical body seated in the center cup.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left flame tip",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate flame location",
+                "provide visible illumination",
+                "show lit status"
+            ],
+            "semantic_description": "Small white flame-shaped tip above the left candle, with a smooth bright teardrop form.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right flame tip",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate flame location",
+                "provide visible illumination",
+                "show lit status"
+            ],
+            "semantic_description": "Small white flame-shaped tip above the right candle, with a smooth bright teardrop form.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center flame tip",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate flame location",
+                "provide visible illumination",
+                "show lit status"
+            ],
+            "semantic_description": "Small white flame-shaped tip above the center candle, with a smooth bright teardrop form.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and visual descriptions mismatch; center ornament color/material and candle cup/collar color assignments are incorrect."
+    }
+}

dataset/livingroom_supplies/ornaments/fd7f1164015e51ed8e3375d7a9137d6f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0690d52c77631c18f972c622563d9964ed3d6f6893bc28e09fe91c2395a5715
+size 3805836

dataset/livingroom_supplies/ornaments/fd7f1164015e51ed8e3375d7a9137d6f/candle_holder_002.urdf

@@ -45,16 +45,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>20</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>