Add asset kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e

.gitattributes

@@ -7411,3 +7411,4 @@ dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/affordance/m
 dataset/kitchen_supplies/tableware/db884ce85579547f84d75ba11aecde37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/dc5a4c097c5957cda3390ec7ffc8a272/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/affordance/affordance_annot.json

@@ -0,0 +1,186 @@
+{
+    "affordances": [
+        {
+            "part_name": "cup handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and relocate the cup together with the saucer",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hook or pinch the handle to rotate or reorient the cup on the saucer",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the handle to stabilize the cup while placing it down or adjusting its position",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "lift the cup",
+                "stabilize the cup during repositioning",
+                "aid orientation of the cup"
+            ],
+            "semantic_description": "Small white ceramic handle with a glossy smooth surface, loop-shaped and attached to the side of the cup.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.698401153087616,
+                    "position": [
+                        0.12074111541733146,
+                        -0.001414851169101894,
+                        0.10857848508749157
+                    ],
+                    "orientation": {
+                        "w": 0.24643878385859933,
+                        "xyz": [
+                            -0.7158663618363628,
+                            -0.5910447668498022,
+                            0.27833318411739455
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.3421745002269745,
+                    "position": [
+                        0.10332342376932502,
+                        -0.08650305727496743,
+                        0.03625143750105053
+                    ],
+                    "orientation": {
+                        "w": 0.5118500132413758,
+                        "xyz": [
+                            -0.30532592112620954,
+                            -0.687457743402918,
+                            -0.41495481304426735
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cup body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cup body from the sides to move the cup and saucer together",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the cup body to stabilize the object while placing or removing it from a surface",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main vessel structure",
+                "support drinking use",
+                "rest on the saucer"
+            ],
+            "semantic_description": "Large white ceramic cup body with a glossy smooth finish, tapered cylindrical shape, and plain unmarked sides positioned centrally above the saucer.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_27": {
+                    "confidence": 0.6477728486061096,
+                    "position": [
+                        0.07015226921066642,
+                        -0.016079651657491922,
+                        0.13729914708528668
+                    ],
+                    "orientation": {
+                        "w": 0.1510876860462038,
+                        "xyz": [
+                            -0.7186884287487768,
+                            -0.6763288504031343,
+                            0.056909925498047124
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "saucer inner well",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cup base",
+                "locate the cup on the saucer",
+                "provide a contact surface for the cup",
+                "catch small drips"
+            ],
+            "semantic_description": "Circular light brown inner area of the saucer with a smooth wood-like surface and shallow recessed seating area for the cup.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "saucer outer rim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the saucer edge from the side when the cup is absent to pick up the saucer",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "grasp the saucer edge to slide or reposition it on a table",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the saucer edge to stabilize it while placing a cup onto it",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "provide the saucer's outer boundary",
+                "support the saucer structure",
+                "offer an edge for pickup",
+                "stabilize placement on a table"
+            ],
+            "semantic_description": "Round light brown saucer outer ring with a smooth wood-like surface, visible fine grain, and a shallow raised edge surrounding the inner well.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_51": {
+                    "confidence": 0.43546223640441895,
+                    "position": [
+                        -0.14507694402709603,
+                        0.025338019710034132,
+                        -0.031333211227320135
+                    ],
+                    "orientation": {
+                        "w": 0.7187787296084809,
+                        "xyz": [
+                            -0.08003872928348195,
+                            0.6901913955452488,
+                            0.024223484315970496
+                        ]
+                    }
+                },
+                "grasp_55": {
+                    "confidence": 0.34243834018707275,
+                    "position": [
+                        -0.09356056759133935,
+                        -0.10354109713807702,
+                        -0.03344210551586002
+                    ],
+                    "orientation": {
+                        "w": 0.677872848279065,
+                        "xyz": [
+                            -0.14189185591993567,
+                            0.6935288476423472,
+                            0.1984259062660461
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Saucer material/color and one grasp scenario are incorrect; cup and saucer descriptions mismatch RGB image."
+    }
+}

dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79a58dfa7b5f6f0016b204fedaefcebec6f3a5d51c12a720f4a46c414f38836b
+size 74327048

dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/coaster_001.urdf

@@ -55,7 +55,7 @@
          <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>NO: {"summary":"Segments the cup and saucer, not the coaster alone; unsupported object-level mismatch.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>