Add asset desktop_supplies/electronic_accessories/79298122afa05ebaa9a803e9e7881441

.gitattributes

@@ -6235,4 +6235,4 @@ dataset/desktop_supplies/electronic_accessories/6cb519090f66525684cb5c142a3133fa
 dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/7461b85091e35d028c955d7a4d709a85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/79298122afa05ebaa9a803e9e7881441/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/79298122afa05ebaa9a803e9e7881441/affordance/affordance_annot.json

@@ -0,0 +1,257 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body along its long sides to pick up or hold the remote",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the body from the back or edges to stabilize the remote while pressing front controls",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "pinch one end of the body to reorient or place the remote on a surface",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support control interface",
+                "provide structural body"
+            ],
+            "semantic_description": "Long slim dark gray plastic housing with a mostly matte smooth hard surface, rounded rectangular shape, medium handheld size, with a visible bright blue trim around the side edge; it forms nearly the entire remote, surrounding the front controls and making up the plain back.",
+            "id": 14,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.991938054561615,
+                    "position": [
+                        0.09871594898868352,
+                        -0.0261125200195238,
+                        -0.0038580811815336347
+                    ],
+                    "orientation": {
+                        "w": 0.026799643621035853,
+                        "xyz": [
+                            -0.6993692811581057,
+                            -0.0076680995644471395,
+                            0.714216765361364
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9911012649536133,
+                    "position": [
+                        0.09855801158118993,
+                        0.00850070093292743,
+                        -0.0029639219865202904
+                    ],
+                    "orientation": {
+                        "w": 0.023436264201459382,
+                        "xyz": [
+                            0.7091582483213802,
+                            0.009913160203278815,
+                            -0.7045899868808919
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9908487796783447,
+                    "position": [
+                        0.09803115122485906,
+                        -0.000944959931075573,
+                        -0.0041036809561774135
+                    ],
+                    "orientation": {
+                        "w": 0.710462676671901,
+                        "xyz": [
+                            -0.013794864056967782,
+                            -0.7032406952310227,
+                            -0.02247245765007515
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9907992482185364,
+                    "position": [
+                        0.09708697639871389,
+                        -0.00033417483791708946,
+                        0.009842395898886025
+                    ],
+                    "orientation": {
+                        "w": 0.657206512379513,
+                        "xyz": [
+                            -0.005860726754560695,
+                            -0.7534300661293324,
+                            -0.019707547290704026
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9903355836868286,
+                    "position": [
+                        0.09439344250131398,
+                        -0.01692629128228873,
+                        -0.0034041989129036665
+                    ],
+                    "orientation": {
+                        "w": 0.7126121042381542,
+                        "xyz": [
+                            0.007269620245542111,
+                            -0.7014550784302459,
+                            -0.00958720288578822
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9900158047676086,
+                    "position": [
+                        0.09700680815149099,
+                        0.01077274524141103,
+                        0.021036477875895798
+                    ],
+                    "orientation": {
+                        "w": 0.608577796821335,
+                        "xyz": [
+                            0.03377007151326765,
+                            -0.7925901311783395,
+                            0.017132759403589458
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9897715449333191,
+                    "position": [
+                        0.10125392966438085,
+                        -0.029611465404741466,
+                        -0.012756066280417144
+                    ],
+                    "orientation": {
+                        "w": 0.03298645092128483,
+                        "xyz": [
+                            -0.6665161165145609,
+                            -0.009234045418483605,
+                            0.7447032247057721
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9894517064094543,
+                    "position": [
+                        0.09893338673282415,
+                        -0.03834771818947047,
+                        -0.0089369349880144
+                    ],
+                    "orientation": {
+                        "w": 0.025575309060987917,
+                        "xyz": [
+                            -0.6833336109472163,
+                            -0.008245728804628483,
+                            0.7296116005607048
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9889919757843018,
+                    "position": [
+                        -0.09752264327835292,
+                        0.0162335253553465,
+                        -0.00884098547976464
+                    ],
+                    "orientation": {
+                        "w": 0.7141314841722534,
+                        "xyz": [
+                            0.01424127719692108,
+                            0.6998390750182049,
+                            -0.006219197327522719
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9888305068016052,
+                    "position": [
+                        -0.09720597125124186,
+                        0.01566275500226766,
+                        -0.0033466340973973274
+                    ],
+                    "orientation": {
+                        "w": 0.6987463814707049,
+                        "xyz": [
+                            0.006729137451166484,
+                            0.7152771204510474,
+                            -0.00931955202875629
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9887819886207581,
+                    "position": [
+                        0.09583407931495458,
+                        0.015049454872496426,
+                        0.000800082110799849
+                    ],
+                    "orientation": {
+                        "w": 0.035698884463760766,
+                        "xyz": [
+                            0.7108737715099409,
+                            -0.02430616067864455,
+                            -0.701992365471548
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "button pad",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for commands",
+                "enter numeric input",
+                "trigger device controls",
+                "provide tactile input targets"
+            ],
+            "semantic_description": "Cluster of small raised black buttons on the front face around the central area, arranged in rows including numeric keys and function buttons; they appear matte and slightly rounded.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "navigation wheel",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press directional controls",
+                "select or navigate menus",
+                "provide central input control",
+                "support thumb targeting"
+            ],
+            "semantic_description": "Large circular black control pad on the front upper section of the remote, slightly raised and larger than the other buttons, with a matte plastic appearance for directional navigation and center selection.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn device on or off",
+                "provide primary power control",
+                "offer quick top-level command"
+            ],
+            "semantic_description": "Small round black button near the top front corner of the remote, separated from the main button cluster and appearing as an isolated single control.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/79298122afa05ebaa9a803e9e7881441/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce059b7a8a05e4ac92bd04349fabbe414154c5d788928b56506ce2311d71288e
+size 3816372

dataset/desktop_supplies/electronic_accessories/79298122afa05ebaa9a803e9e7881441/tv_remote_010.urdf

@@ -47,7 +47,7 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>17</part_count>
+         <part_count>4</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
@@ -57,7 +57,7 @@
          <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>