Add asset bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756

.gitattributes

@@ -5581,4 +5581,4 @@ dataset/bathroom_supplies/bath_products/2c214b38ee4a56729f1ce295b6fe4973/afforda
 dataset/bathroom_supplies/bath_products/2cdbd19877ad5bf2ac1f9bbcd2d335b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/31ef01fdb67655b3b321010890ef24c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/2f389bce9fde5cf5b4a61023a2c57227/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/affordance/affordance_annot.json

@@ -0,0 +1,154 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket tray",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the basket rim from opposite sides to pick up or reposition the soap holder",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the basket body while attaching or detaching it from the wall mount",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "stabilize the basket while placing or removing soap or a sponge",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "hold soap or sponge",
+                "drain water through slots",
+                "provide main storage cavity",
+                "support drying of soap",
+                "main grasp surface"
+            ],
+            "semantic_description": "White plastic basket tray with a smooth semi-gloss surface, small rectangular shape with rounded corners, slotted sides and base, projecting outward from the wall-mounted plate.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.9709385633468628,
+                    "position": [
+                        0.13262776657938957,
+                        -0.008325164802954532,
+                        -0.0069409022107720375
+                    ],
+                    "orientation": {
+                        "w": 0.7086030771209472,
+                        "xyz": [
+                            -0.02066875820668031,
+                            -0.7053020691930423,
+                            0.0018635237943497266
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9692181348800659,
+                    "position": [
+                        0.13428093865513802,
+                        0.008665040470077656,
+                        -0.005644368764478713
+                    ],
+                    "orientation": {
+                        "w": 0.7081417683752582,
+                        "xyz": [
+                            0.01793880747463334,
+                            -0.7058236008782437,
+                            -0.0051458247171817136
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9663608074188232,
+                    "position": [
+                        0.13637163862586021,
+                        0.0025965444365283474,
+                        -0.014683444518595934
+                    ],
+                    "orientation": {
+                        "w": 0.7277156886547961,
+                        "xyz": [
+                            0.015006414352583111,
+                            -0.6857147179655552,
+                            9.787427521964595e-05
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9639043807983398,
+                    "position": [
+                        0.13280456885695457,
+                        0.02048925064445939,
+                        -0.00640410406049341
+                    ],
+                    "orientation": {
+                        "w": 0.717363679803797,
+                        "xyz": [
+                            0.05585541407985861,
+                            -0.6944201677407476,
+                            0.007081966621985228
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "backplate",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount to wall",
+                "support the basket assembly",
+                "provide structural backing",
+                "distribute load against the wall"
+            ],
+            "semantic_description": "Large light gray plastic backplate with a smooth matte-to-semi-gloss surface, rounded rectangular form, positioned vertically behind the basket as the wall-contacting support.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mounting hub",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the front knob area to the backplate",
+                "act as central mounting interface",
+                "support the front fastener area"
+            ],
+            "semantic_description": "Small white to light gray circular mounting hub visible as a ring-like central feature on the front of the backplate behind the basket, partially obscured by the basket and knob.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "locking knob",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and turn the small front knob during mounting adjustment or removal",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "grasp the knob lightly to manipulate the central fastener area",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "secure the mount",
+                "adjust or release attachment",
+                "provide a small manipulation point"
+            ],
+            "semantic_description": "Small white round plastic knob at the center front of the mounting area, with a short cylindrical shape and flat front face.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Backplate and hub descriptions use wrong colors; knob function and graspability are overstated for fixed wall basket."
+    }
+}

dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ad9e1f75a2cfeda8340c8370289f57ba65d40518b8f4650aa3f942f52607bd4
+size 3780012

dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/soap_dish_011.urdf

@@ -61,7 +61,7 @@
          <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>