Add asset livingroom_supplies/ornaments/59b4afe9e27e543a878d27db937c267f

.gitattributes

@@ -7699,4 +7699,4 @@ dataset/livingroom_supplies/ornaments/576d352a7fd6533ea678f4ca53375404/affordanc
 dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/59a82f9d9134500c8756d472693ea1e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/5adcd31f9dfd51f4b185573a7254a3a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/59b4afe9e27e543a878d27db937c267f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/59b4afe9e27e543a878d27db937c267f/affordance/affordance_annot.json

@@ -0,0 +1,102 @@
+{
+    "affordances": [
+        {
+            "part_name": "photo frame",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer frame edge to pick up and reposition the photo frame",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the frame sides to place or hang the photo frame",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the frame body to stabilize it while adjusting orientation",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "display a photograph",
+                "protect the picture",
+                "provide a rigid border",
+                "support handling and placement",
+                "decorate the displayed image"
+            ],
+            "semantic_description": "Ornate rectangular frame with a pale pink body, white raised floral trim, a hard mostly smooth painted finish, glass-covered front image, and a light wood-toned back panel, forming the medium-sized outer structure of the photo frame.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9769953489303589,
+                    "position": [
+                        0.19753349083475769,
+                        -0.08484321529977024,
+                        -0.0041880778735503554
+                    ],
+                    "orientation": {
+                        "w": 0.015317154111333602,
+                        "xyz": [
+                            0.7078335265495701,
+                            0.0013646235101814064,
+                            -0.706211881296969
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9706363081932068,
+                    "position": [
+                        -0.1904062156099826,
+                        -0.07342832232825458,
+                        -0.003607438295148313
+                    ],
+                    "orientation": {
+                        "w": 0.7105673316901953,
+                        "xyz": [
+                            -0.022443103607249174,
+                            0.7022618778028559,
+                            0.037664694608572746
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.968508780002594,
+                    "position": [
+                        0.19551213341765106,
+                        -0.09267345513217151,
+                        -0.011632886831648648
+                    ],
+                    "orientation": {
+                        "w": 0.7177977251902342,
+                        "xyz": [
+                            -0.008979830914457509,
+                            -0.6961937579466339,
+                            0.00019936051817414215
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.967081606388092,
+                    "position": [
+                        0.016774576855823398,
+                        -0.22170650656335056,
+                        0.021818392793647945
+                    ],
+                    "orientation": {
+                        "w": 0.44314291107007653,
+                        "xyz": [
+                            -0.533407406892915,
+                            -0.597751375133107,
+                            -0.4022364878608043
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/livingroom_supplies/ornaments/59b4afe9e27e543a878d27db937c267f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:648112a8e05305487430424097de889f40779edfaf789451fee15f71271043e0
+size 37286756

dataset/livingroom_supplies/ornaments/59b4afe9e27e543a878d27db937c267f/photo_frame_014.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>