Add asset desktop_supplies/office_stationery/f79266ffa2405f73ae3d920dd97023c5

.gitattributes

@@ -8632,3 +8632,4 @@ dataset/desktop_supplies/office_stationery/f58b794c3b165191bd6cd85755cf87ea/affo
 dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f77f018e923450cf86a96693cfa8fc52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f79266ffa2405f73ae3d920dd97023c5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/f79266ffa2405f73ae3d920dd97023c5/affordance/affordance_annot.json

@@ -0,0 +1,227 @@
+{
+    "affordances": [
+        {
+            "part_name": "barrel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the barrel at the middle to pick up and reposition the pen",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the barrel to stabilize the pen while placing it down or orienting the tip",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the barrel near the rear to uncap or inspect the pen",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house the ink mechanism",
+                "support writing use",
+                "connect the pen parts"
+            ],
+            "semantic_description": "Long dark brown cylindrical body with a glossy polished wood-like finish, hard smooth texture, and gold decorative bands around the mid and front sections.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8951970934867859,
+                    "position": [
+                        -0.11240108925267123,
+                        -0.02647310440079309,
+                        -0.0457146693370305
+                    ],
+                    "orientation": {
+                        "w": 0.6633032738221393,
+                        "xyz": [
+                            0.2049355917194529,
+                            0.47367075018916593,
+                            0.5419097624131377
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.8848944902420044,
+                    "position": [
+                        -0.11165067422552966,
+                        -0.05280703437165357,
+                        -0.007277811819221824
+                    ],
+                    "orientation": {
+                        "w": 0.2535720505932196,
+                        "xyz": [
+                            -0.6601426333378724,
+                            -0.1360179121868138,
+                            -0.6938386313632509
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8831743597984314,
+                    "position": [
+                        -0.1282812045828905,
+                        -0.00044885028910357505,
+                        0.00436608080053702
+                    ],
+                    "orientation": {
+                        "w": 0.5574524977346724,
+                        "xyz": [
+                            -0.42276253626970045,
+                            0.5803720096717331,
+                            -0.41675758071783064
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8790703415870667,
+                    "position": [
+                        -0.1306530969159212,
+                        -0.0010068787669297308,
+                        0.00441457616398111
+                    ],
+                    "orientation": {
+                        "w": 0.4754795694106632,
+                        "xyz": [
+                            0.5322873517301392,
+                            0.48637263963769595,
+                            0.5040148903286733
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8750969767570496,
+                    "position": [
+                        -0.1284819679276552,
+                        7.237651152536273e-05,
+                        -0.0007306411571335047
+                    ],
+                    "orientation": {
+                        "w": 0.4835113485384621,
+                        "xyz": [
+                            0.5280822996680721,
+                            0.4739387745195647,
+                            0.5125698963250687
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8744937777519226,
+                    "position": [
+                        -0.1308487789647188,
+                        -0.0013630936446134,
+                        0.0017499421373941004
+                    ],
+                    "orientation": {
+                        "w": 0.5564999545156177,
+                        "xyz": [
+                            -0.4362288291225212,
+                            0.5670094235252315,
+                            -0.422507423485191
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pen tip",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "write on surfaces",
+                "dispense ink",
+                "make precise contact",
+                "define the working end"
+            ],
+            "semantic_description": "Small pointed metallic nib at the front, gold-toned and reflective with a hard smooth finish, forming the precise writing end of the pen.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front grip ring",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect tip assembly to barrel",
+                "provide a transition collar",
+                "help retain front components"
+            ],
+            "semantic_description": "Thin dark ring just behind the nib, appearing black or very dark with a smooth finish, encircling the narrow front section as a small connector band.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front accent band",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join front sections",
+                "provide trim detail",
+                "indicate section boundary"
+            ],
+            "semantic_description": "Very narrow gold-toned metallic band near the front, glossy and reflective with a hard smooth surface, wrapped around the pen as decorative trim.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front collar",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect nib section to barrel",
+                "space the front hardware",
+                "provide decorative trim"
+            ],
+            "semantic_description": "Short gold-colored collar behind the front trim rings, metallic and reflective with a smooth hard surface, linking the nib assembly to the wooden barrel.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center band",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce barrel section",
+                "provide decorative trim",
+                "mark the pen midsection"
+            ],
+            "semantic_description": "Slim gold-toned band around the barrel midpoint, metallic and glossy with a hard smooth texture, serving as a decorative separator on the wooden body.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end cap",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rear end cap to orient the pen during pickup",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "grasp the rear end to stabilize the pen while manipulating the barrel",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "close the rear end",
+                "protect the barrel end",
+                "provide rear contact surface"
+            ],
+            "semantic_description": "Rounded dark brown rear cap with a glossy polished finish and smooth hard texture, slightly domed and smaller than the main barrel at the pen's back end.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_stationery/f79266ffa2405f73ae3d920dd97023c5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcebf6555c4cbdbcf2aea95598da2c8dd78bd1b72bd5031be4470a117776a8f9
+size 3785180

dataset/desktop_supplies/office_stationery/f79266ffa2405f73ae3d920dd97023c5/ballpoint_pen_002.urdf

@@ -47,16 +47,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>9</part_count>
+         <part_count>7</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
                <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>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>