Add asset desktop_supplies/decorations/c25d39f40c045e75919ea01ea08b8c87

.gitattributes

@@ -6152,3 +6152,4 @@ dataset/desktop_supplies/decorations/b0805941876459e390f2d27fd558b093/affordance
 dataset/desktop_supplies/decorations/b26f92a9866651f1829364b31bb4eef7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/c25d39f40c045e75919ea01ea08b8c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/c25d39f40c045e75919ea01ea08b8c87/affordance/affordance_annot.json

@@ -0,0 +1,249 @@
+{
+    "affordances": [
+        {
+            "part_name": "spiral sculpture body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the midsection to pick up and reposition the sculpture",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the upper spiral to stabilize the sculpture during placement",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "main decorative form",
+                "provide primary grasp surface",
+                "define visual silhouette",
+                "indicate upright orientation"
+            ],
+            "semantic_description": "Tall twisted white to light gray body with a glossy reflective hard surface, smooth ridged spiral contours, and a tapered conical shape forming most of the sculpture above the base.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.9057432413101196,
+                    "position": [
+                        -0.09588396456092596,
+                        0.05284531135112047,
+                        0.1472272202372551
+                    ],
+                    "orientation": {
+                        "w": 0.25511878739637617,
+                        "xyz": [
+                            -0.41820755926210823,
+                            0.7340797832343494,
+                            -0.47025919825139356
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9038527011871338,
+                    "position": [
+                        -0.09341438766568899,
+                        0.05994079727679491,
+                        0.14631599932909012
+                    ],
+                    "orientation": {
+                        "w": 0.24833155719499703,
+                        "xyz": [
+                            -0.36500968875468437,
+                            0.7594609766923271,
+                            -0.47782673606429016
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9036394357681274,
+                    "position": [
+                        -0.0943417763337493,
+                        0.05400503519922495,
+                        0.14801671355962753
+                    ],
+                    "orientation": {
+                        "w": 0.469644213208929,
+                        "xyz": [
+                            0.7341708440953828,
+                            0.4208664187014036,
+                            0.2515928104876871
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9027023315429688,
+                    "position": [
+                        -0.11210898216813803,
+                        0.02266934420913458,
+                        0.14064907282590866
+                    ],
+                    "orientation": {
+                        "w": 0.364822395400287,
+                        "xyz": [
+                            -0.479140580593466,
+                            0.6764171062480101,
+                            -0.4240151202705177
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.9021775126457214,
+                    "position": [
+                        -0.10571700241416693,
+                        0.04994750861078501,
+                        0.1374586746096611
+                    ],
+                    "orientation": {
+                        "w": 0.30811153294404214,
+                        "xyz": [
+                            -0.3928792151785561,
+                            0.7214727767985758,
+                            -0.4797814480428635
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9003506302833557,
+                    "position": [
+                        -0.09702312108129263,
+                        0.048192975111305714,
+                        0.14852812141180038
+                    ],
+                    "orientation": {
+                        "w": 0.2618429660220921,
+                        "xyz": [
+                            -0.43468305587957345,
+                            0.7279401477015535,
+                            -0.4610770471842966
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.8973435759544373,
+                    "position": [
+                        -0.09398986306041479,
+                        0.056833536364138126,
+                        0.1535826250910759
+                    ],
+                    "orientation": {
+                        "w": 0.23835859292782513,
+                        "xyz": [
+                            -0.3976192671793528,
+                            0.7593729136264413,
+                            -0.45654887755388274
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.8965713977813721,
+                    "position": [
+                        -0.0889319172129035,
+                        0.056218874640762806,
+                        0.15503662079572678
+                    ],
+                    "orientation": {
+                        "w": 0.4798426219675777,
+                        "xyz": [
+                            0.7341153070920293,
+                            0.4300945732873451,
+                            0.2141131291285816
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.8961396217346191,
+                    "position": [
+                        -0.10323502775281668,
+                        0.020262419246137142,
+                        0.15589868277311325
+                    ],
+                    "orientation": {
+                        "w": 0.37444460823722303,
+                        "xyz": [
+                            0.6898854780502703,
+                            0.5131362660179695,
+                            0.34718933600350965
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.8960087895393372,
+                    "position": [
+                        -0.09561810549348593,
+                        0.05375353712588549,
+                        0.1515231654047966
+                    ],
+                    "orientation": {
+                        "w": 0.2642475850987844,
+                        "xyz": [
+                            -0.3833261298948048,
+                            0.7525109320792898,
+                            -0.4657913578100078
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base of sculpture",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp around the lower base to lift the sculpture from a shelf",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the base to stabilize the object during inspection or rotation",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support the sculpture",
+                "provide stable resting surface",
+                "enable standing display",
+                "serve as secure lower grasp area"
+            ],
+            "semantic_description": "Rounded white-gray pedestal base with a glossy hard finish, smooth curved sides, and a wider heavier form at the bottom that supports the spiral body.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_12": {
+                    "confidence": 0.442484587430954,
+                    "position": [
+                        0.0075258538126945496,
+                        0.09530520159751177,
+                        -0.17263349145650864
+                    ],
+                    "orientation": {
+                        "w": 0.8610378933016933,
+                        "xyz": [
+                            0.4953540628465447,
+                            0.05052201402204426,
+                            -0.10337129591506351
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom pad",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contact resting surface",
+                "protect the underside",
+                "improve stability",
+                "finish the bottom face"
+            ],
+            "semantic_description": "Small circular dark gray underside pad with a matte to satin hard-looking surface, smooth texture, and centered placement on the bottom of the base.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/decorations/c25d39f40c045e75919ea01ea08b8c87/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ee79acd8a9bea9bb00819cdc0df6357f293f58d97d88bca4a522a49423bf310
+size 2000132

dataset/desktop_supplies/decorations/c25d39f40c045e75919ea01ea08b8c87/c25d39f40c045e75919ea01ea08b8c87.urdf

@@ -42,7 +42,7 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.738032579421997</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
          <part_count>3</part_count>