Add asset livingroom_supplies/ornaments/f91937664fb955419eed10733c346cce

.gitattributes

@@ -7788,4 +7788,4 @@ dataset/livingroom_supplies/ornaments/f36681a08aa25a8cb1cb66e8c195dcfa/affordanc
 dataset/livingroom_supplies/ornaments/f4c2a3a8c660559cb91261078021ccde/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/f8e6895af784546b961bf295a98afd37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/f91937664fb955419eed10733c346cce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/f91937664fb955419eed10733c346cce/affordance/affordance_annot.json

@@ -0,0 +1,211 @@
+{
+    "affordances": [
+        {
+            "part_name": "watering can body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cylindrical body to pick up or reposition the watering can",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the body to stabilize the can while another gripper manipulates the handle",
+                    "confidence": 0.65
+                }
+            ],
+            "functional_labels": [
+                "contain water",
+                "main structural shell",
+                "support attached parts",
+                "provide a broad stabilization surface"
+            ],
+            "semantic_description": "Large light blue plastic body with a smooth slightly glossy hard surface, cylindrical bucket-like shape, forming the main central container of the watering can.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.9388105273246765,
+                    "position": [
+                        -0.12154546566307545,
+                        0.04742743808310479,
+                        0.23675634898245335
+                    ],
+                    "orientation": {
+                        "w": 0.03393637498923874,
+                        "xyz": [
+                            -0.8706154056786873,
+                            0.49030787486111943,
+                            -0.02180196543196799
+                        ]
+                    }
+                },
+                "grasp_42": {
+                    "confidence": 0.9328117370605469,
+                    "position": [
+                        -0.1647531408816576,
+                        0.01600690360646695,
+                        0.21950861252844334
+                    ],
+                    "orientation": {
+                        "w": 0.14854500717335825,
+                        "xyz": [
+                            -0.8858296437571923,
+                            0.4323947538003467,
+                            -0.07921489740452972
+                        ]
+                    }
+                },
+                "grasp_46": {
+                    "confidence": 0.927265465259552,
+                    "position": [
+                        -0.003444092348217964,
+                        -0.11807996791321784,
+                        0.2342067901045084
+                    ],
+                    "orientation": {
+                        "w": 0.001498535486878821,
+                        "xyz": [
+                            0.6552489714931935,
+                            0.7546755337922016,
+                            0.03333734308493882
+                        ]
+                    }
+                },
+                "grasp_54": {
+                    "confidence": 0.919516384601593,
+                    "position": [
+                        -0.12164233811199665,
+                        0.03916202473919839,
+                        0.23368031717836857
+                    ],
+                    "orientation": {
+                        "w": 0.024132008616007096,
+                        "xyz": [
+                            0.4015745909164514,
+                            0.9152090678896846,
+                            0.023406326985173823
+                        ]
+                    }
+                },
+                "grasp_56": {
+                    "confidence": 0.9188985228538513,
+                    "position": [
+                        -0.002743195742368698,
+                        -0.13691170525271446,
+                        0.22216291166841984
+                    ],
+                    "orientation": {
+                        "w": 0.1763261245059668,
+                        "xyz": [
+                            -0.6948153351471408,
+                            -0.6971818853788296,
+                            -0.008841185480108147
+                        ]
+                    }
+                },
+                "grasp_59": {
+                    "confidence": 0.9172546863555908,
+                    "position": [
+                        0.0063020046800374985,
+                        -0.10263981681782752,
+                        0.23128006793558598
+                    ],
+                    "orientation": {
+                        "w": 0.07168774543229306,
+                        "xyz": [
+                            0.7472656774825612,
+                            -0.6584022513565027,
+                            -0.05441828571401641
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle, spout, and protrusions",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear handle to lift and carry the watering can",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the rear handle to tilt and pour water through the spout",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the spout carefully to reorient or stabilize the can during placement",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "provide a secure grip for carrying",
+                "control pouring angle",
+                "direct water flow through the spout",
+                "include small molded protrusions attached to the body"
+            ],
+            "semantic_description": "Light blue plastic parts grouped in one mask: a curved rear handle, a narrow angled front spout with a flared tip, a small round side protrusion on the body, and a short top tab-like protrusion; all have smooth slightly glossy surfaces.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the can from underneath during two-point manipulation",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "grasp the bottom edge to steady or reposition the watering can from below",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "support upright placement",
+                "stabilize on flat surfaces",
+                "close the bottom of the container"
+            ],
+            "semantic_description": "Flat circular light blue plastic underside with a smooth slightly glossy hard surface, broad and forming the bottom support area of the watering can.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_39": {
+                    "confidence": 0.08396162837743759,
+                    "position": [
+                        0.05708630196750164,
+                        0.17259736347477883,
+                        -0.09028240106999874
+                    ],
+                    "orientation": {
+                        "w": 0.47897598848384865,
+                        "xyz": [
+                            0.17961916727750732,
+                            -0.7726522518377392,
+                            0.3759354398464259
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the opening",
+                "define the top opening",
+                "help resist deformation at the lip"
+            ],
+            "semantic_description": "Thin raised light blue plastic rim with a smooth slightly glossy hard surface, forming a narrow circular lip around the open top edge of the can.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red part name over-groups distinct structures and misses front circular opening; descriptions/functions mismatch mask."
+    }
+}

dataset/livingroom_supplies/ornaments/f91937664fb955419eed10733c346cce/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a2d95953ddb26dc1545b0a13631bc801180474dda1691f125a5fa028159f1e
+size 691072