Add asset livingroom_supplies/ornaments/c8e88aa862485fefb7ea7f164da1939a

.gitattributes

@@ -7760,4 +7760,4 @@ dataset/livingroom_supplies/ornaments/c8a319ec68f55571ac43c8dd828556a5/affordanc
 dataset/livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c960be8884fb5daf925af667b2ea3623/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c8e88aa862485fefb7ea7f164da1939a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/c8e88aa862485fefb7ea7f164da1939a/affordance/affordance_annot.json

@@ -0,0 +1,282 @@
+{
+    "affordances": [
+        {
+            "part_name": "watering can body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body from the sides to pick up the watering can",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the body to stabilize the can while another tool manipulates the handle or spout",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "contain water",
+                "main structural shell",
+                "support attached handle and spout",
+                "provide a broad stabilizing surface"
+            ],
+            "semantic_description": "Large cylindrical light wood body with a matte to satin finish, hard smooth surface, visible wood grain, and metal band details around the upper and lower edges.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top knob",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top knob to orient or steady the watering can during inspection",
+                    "confidence": 0.39
+                },
+                {
+                    "scenario": "use the knob as a light auxiliary grip while repositioning the can",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "provide a small top grip",
+                "aid orientation",
+                "serve as a lid or top attachment point",
+                "offer localized stabilization"
+            ],
+            "semantic_description": "Small greenish cylindrical top piece with a slightly matte hard surface, centered near the opening under the top handle assembly and much smaller than the body.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spout",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the spout near its base to orient the watering can for pouring",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the spout to stabilize the front of the can during manipulation",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "pour water",
+                "direct flow",
+                "reach plants at a distance",
+                "indicate pouring direction"
+            ],
+            "semantic_description": "Bent tapered spout made of greenish bamboo-like segments with a flared tan nozzle, a hard smooth surface, and a curved tubular shape projecting from the front side.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9514771699905396,
+                    "position": [
+                        0.016053207771619782,
+                        -0.14200182387139648,
+                        -0.04577704914845526
+                    ],
+                    "orientation": {
+                        "w": 0.06763400425000717,
+                        "xyz": [
+                            0.07491649513471045,
+                            -0.2948284699954824,
+                            -0.9502048902768095
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.9411653876304626,
+                    "position": [
+                        0.08766208085580729,
+                        -0.1529966158559546,
+                        0.055960379308089614
+                    ],
+                    "orientation": {
+                        "w": 0.09458964895308992,
+                        "xyz": [
+                            0.5996466206131524,
+                            -0.4002252945852792,
+                            -0.6865103366099329
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.9339444637298584,
+                    "position": [
+                        0.08272635433240794,
+                        -0.16318310925271362,
+                        0.06388517818413675
+                    ],
+                    "orientation": {
+                        "w": 0.08970317579221496,
+                        "xyz": [
+                            0.5421366720620854,
+                            -0.5240704519202073,
+                            -0.6506852775976936
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.9314854741096497,
+                    "position": [
+                        0.012968374969204888,
+                        -0.13168183097150177,
+                        -0.05282332026399672
+                    ],
+                    "orientation": {
+                        "w": 0.9703879523885971,
+                        "xyz": [
+                            -0.23750291894093703,
+                            -0.04369712279334659,
+                            0.005490611366977582
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.929826557636261,
+                    "position": [
+                        -0.007070095656672493,
+                        -0.14766168722417206,
+                        -0.036629449808970094
+                    ],
+                    "orientation": {
+                        "w": 0.10477631454405875,
+                        "xyz": [
+                            0.00043264196571441056,
+                            0.26914287912128554,
+                            0.9573838558017358
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9273916482925415,
+                    "position": [
+                        0.015125177422305569,
+                        -0.14140202233102173,
+                        -0.04229361959733069
+                    ],
+                    "orientation": {
+                        "w": 0.9546984881879117,
+                        "xyz": [
+                            -0.2815217394346436,
+                            -0.08973923303316911,
+                            -0.03525871427075521
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the watering can",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the handle to control tilt while pouring",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "provide primary grip",
+                "lift and carry the can",
+                "control pouring angle",
+                "support one-handed manipulation"
+            ],
+            "semantic_description": "Arched segmented handle in muted green with a pale wood top grip, hard smooth construction, and a medium-thick curved form spanning from the upper rear to the top opening.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_44": {
+                    "confidence": 0.9507429003715515,
+                    "position": [
+                        0.01215438506915234,
+                        0.07921171060297638,
+                        0.18307672790251672
+                    ],
+                    "orientation": {
+                        "w": 0.23476514030815424,
+                        "xyz": [
+                            0.9700980916105537,
+                            -0.007366092543185598,
+                            -0.061161770987273864
+                        ]
+                    }
+                },
+                "grasp_45": {
+                    "confidence": 0.9505500793457031,
+                    "position": [
+                        0.023502655880292878,
+                        0.06758382788393646,
+                        0.1857652103062719
+                    ],
+                    "orientation": {
+                        "w": 0.17014690348766626,
+                        "xyz": [
+                            0.9789841804979317,
+                            -0.013036042205711557,
+                            -0.11166945496402583
+                        ]
+                    }
+                },
+                "grasp_52": {
+                    "confidence": 0.9462679028511047,
+                    "position": [
+                        -0.005826531822094694,
+                        0.10329571238253266,
+                        0.16856235614977777
+                    ],
+                    "orientation": {
+                        "w": 0.37085824904003806,
+                        "xyz": [
+                            0.924492541627343,
+                            0.08818989368788382,
+                            0.0004921846121812152
+                        ]
+                    }
+                },
+                "grasp_54": {
+                    "confidence": 0.945114254951477,
+                    "position": [
+                        -0.022620586125412956,
+                        0.11912945529911667,
+                        0.15679473034106195
+                    ],
+                    "orientation": {
+                        "w": 0.09443408214043081,
+                        "xyz": [
+                            -0.06811669209187914,
+                            0.9006585604179191,
+                            -0.4186364507955284
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.9427413940429688,
+                    "position": [
+                        -0.0024828132300172,
+                        0.0577614480862394,
+                        0.19140822044573724
+                    ],
+                    "orientation": {
+                        "w": 0.029865192207351607,
+                        "xyz": [
+                            0.02102418429421161,
+                            0.9906127915993105,
+                            -0.1317283230326805
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/livingroom_supplies/ornaments/c8e88aa862485fefb7ea7f164da1939a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:819592957e790041c0b2d0db80882e54ed807828c2639bc214a862e0037d22bf
+size 37301900

dataset/livingroom_supplies/ornaments/c8e88aa862485fefb7ea7f164da1939a/watering_can_017.urdf

@@ -60,7 +60,7 @@
          <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>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>