Add asset desktop_supplies/electronic_accessories/b79fcf41f79d5a8a9e4bb9310ca3c10f

.gitattributes

@@ -6276,3 +6276,4 @@ dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33
 dataset/desktop_supplies/electronic_accessories/b31f376c4d7a54b69046e647cd0282b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/b50d503796f856a0af5cfeedeba4e40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/b79fcf41f79d5a8a9e4bb9310ca3c10f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/b79fcf41f79d5a8a9e4bb9310ca3c10f/affordance/affordance_annot.json

@@ -0,0 +1,253 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body from the sides to pick up the device",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the remote body to reposition or place it down",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "stabilize the remote body while another tool presses a button",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "houses internal electronics",
+                "supports the controls",
+                "provides overall structure"
+            ],
+            "semantic_description": "Elongated white plastic housing with a smooth matte finish, rounded edges, and a slim tapered rectangular form that makes up nearly the entire remote.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9811272025108337,
+                    "position": [
+                        -0.026730157900601625,
+                        -0.1309533269959502,
+                        3.8834987208247185e-06
+                    ],
+                    "orientation": {
+                        "w": 0.5171756032643853,
+                        "xyz": [
+                            -0.4930013639337244,
+                            0.504398358883582,
+                            0.4848312552869879
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9810922741889954,
+                    "position": [
+                        -0.026025977451354265,
+                        -0.13276541250525042,
+                        0.0004242650466039777
+                    ],
+                    "orientation": {
+                        "w": 0.5240064852261709,
+                        "xyz": [
+                            -0.48472221958821693,
+                            0.5094048437944809,
+                            0.48059159209989105
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9805963039398193,
+                    "position": [
+                        -0.027849808800965548,
+                        -0.1290161611395888,
+                        -0.006996552925556898
+                    ],
+                    "orientation": {
+                        "w": 0.48869642288364407,
+                        "xyz": [
+                            -0.4933569892140842,
+                            -0.4798565762225584,
+                            -0.5362017845086953
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9804625511169434,
+                    "position": [
+                        -0.0010782093740999699,
+                        -0.132004976447206,
+                        -0.0034437731374055147
+                    ],
+                    "orientation": {
+                        "w": 0.4885398179685958,
+                        "xyz": [
+                            -0.490566167543777,
+                            -0.4995999751948885,
+                            -0.5206472378740613
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9801488518714905,
+                    "position": [
+                        -0.0012439996935427189,
+                        -0.13205805438337848,
+                        -0.003945840755477548
+                    ],
+                    "orientation": {
+                        "w": 0.4894995537693481,
+                        "xyz": [
+                            -0.48812786245486744,
+                            -0.503042057724507,
+                            -0.5187196399936527
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9793983697891235,
+                    "position": [
+                        -0.007531582843512297,
+                        -0.13170766847906634,
+                        -0.004002174362540245
+                    ],
+                    "orientation": {
+                        "w": 0.49029907465871936,
+                        "xyz": [
+                            -0.488909743912232,
+                            -0.5075743301335763,
+                            -0.5127790743448204
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.979288637638092,
+                    "position": [
+                        -0.06420473242178559,
+                        -0.1299294980126433,
+                        -0.0004719713469967246
+                    ],
+                    "orientation": {
+                        "w": 0.5287518907756648,
+                        "xyz": [
+                            -0.4848315919324434,
+                            0.5139860611591313,
+                            0.4702957520534643
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.979125440120697,
+                    "position": [
+                        -0.04145537922158837,
+                        -0.12720803933916613,
+                        -0.003567129373550415
+                    ],
+                    "orientation": {
+                        "w": 0.4561607562198855,
+                        "xyz": [
+                            -0.529749756706696,
+                            -0.4538440354692088,
+                            -0.552546967436364
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9789949059486389,
+                    "position": [
+                        -0.035916677210479975,
+                        -0.1264391543227248,
+                        -0.0023516181390732527
+                    ],
+                    "orientation": {
+                        "w": 0.4843362156085479,
+                        "xyz": [
+                            -0.48866358059342996,
+                            -0.4954872953611308,
+                            -0.5302062574011271
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9789576530456543,
+                    "position": [
+                        -0.014715977478772402,
+                        -0.13181899505434558,
+                        -0.006298334337770939
+                    ],
+                    "orientation": {
+                        "w": 0.5304403300381481,
+                        "xyz": [
+                            -0.4709115345365469,
+                            0.5110416085663362,
+                            0.4855016552220874
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "middle circular button",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for command input",
+                "actuate a primary control",
+                "provide tactile input point"
+            ],
+            "semantic_description": "Small circular white button on the top face near the middle, with a smooth slightly recessed surface and a ringed outline.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small end button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for command input",
+                "trigger a secondary function",
+                "provide tactile input point"
+            ],
+            "semantic_description": "Small oval or rounded button near one end of the top face, white plastic with a smooth hard surface and shallow relief relative to the surrounding body.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower circular ring button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for command input",
+                "provide secondary control",
+                "offer a larger tactile control area"
+            ],
+            "semantic_description": "Larger circular button area lower on the front face, appearing white with an outlined ring around it, made of smooth hard plastic.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front window",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "emit or receive signal",
+                "indicate device orientation",
+                "cover front-end component"
+            ],
+            "semantic_description": "Thin dark translucent rectangular window at the narrow front edge, set flush into the body with a glossy smooth surface and small size.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and visual descriptions mismatch mask/image; button colors/positions are swapped and front window location is incorrect."
+    }
+}

dataset/desktop_supplies/electronic_accessories/b79fcf41f79d5a8a9e4bb9310ca3c10f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ef9f7843b0567a20f72c1370c7403c33ca3ad0aa8458ce34fa56ac323bfa584
+size 1009616

dataset/desktop_supplies/electronic_accessories/b79fcf41f79d5a8a9e4bb9310ca3c10f/b79fcf41f79d5a8a9e4bb9310ca3c10f.urdf

@@ -42,10 +42,10 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.576362252235413</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>7</part_count>
+         <part_count>6</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>