Add asset desktop_supplies/electronic_accessories/626a6f94e9755f95b3f92cb5e291ab66

.gitattributes

@@ -6227,3 +6227,4 @@ dataset/desktop_supplies/electronic_accessories/5ba3642692fd55b3aa6347e16fe177f4
 dataset/desktop_supplies/electronic_accessories/5c4cd26c91f350c8ba9d6af0d8b17127/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/626a6f94e9755f95b3f92cb5e291ab66/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/626a6f94e9755f95b3f92cb5e291ab66/affordance/affordance_annot.json

@@ -0,0 +1,307 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body along its sides to pick up the remote",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the remote body to stabilize it while pressing buttons",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "pinch one end of the remote body to reposition or place it down",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support buttons and controls",
+                "provide structural enclosure",
+                "rest on a table"
+            ],
+            "semantic_description": "Elongated rounded-rectangle remote housing with a black front face and light cyan sides/back, hard smooth mostly matte plastic, medium size, with controls on the front face and branding near one end.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9873769879341125,
+                    "position": [
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+                        0.0018377301748842
+                    ],
+                    "orientation": {
+                        "w": 0.02211028571548732,
+                        "xyz": [
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+                            0.03173199222691159,
+                            0.714198814797159
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9871877431869507,
+                    "position": [
+                        0.11230367922689766,
+                        -0.038997486990410835,
+                        0.0019061084603890777
+                    ],
+                    "orientation": {
+                        "w": 0.023113653602826342,
+                        "xyz": [
+                            0.7077307390233422,
+                            0.017750390149553708,
+                            -0.705880927429082
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9869606494903564,
+                    "position": [
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+                        0.0695619277539663,
+                        0.004694354371167719
+                    ],
+                    "orientation": {
+                        "w": 0.024259291002989004,
+                        "xyz": [
+                            0.7101173695190093,
+                            -0.0029541600693280268,
+                            -0.7036590660580734
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9868476986885071,
+                    "position": [
+                        0.11391579860355705,
+                        -0.043701187532860786,
+                        0.0008651175594422966
+                    ],
+                    "orientation": {
+                        "w": 0.019694920303256327,
+                        "xyz": [
+                            -0.7145114707096389,
+                            -0.008287460683261028,
+                            0.6992973518711625
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9866780042648315,
+                    "position": [
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+                        0.08178815915016457,
+                        -0.001233076909556985
+                    ],
+                    "orientation": {
+                        "w": 0.011995104080176911,
+                        "xyz": [
+                            0.6994917358953007,
+                            -0.00671948878062445,
+                            -0.7145084165794073
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9856705069541931,
+                    "position": [
+                        0.11330160999204963,
+                        0.07279778941301629,
+                        0.00040406353946309537
+                    ],
+                    "orientation": {
+                        "w": 0.037829383679758424,
+                        "xyz": [
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+                            0.011345318661390658,
+                            -0.7109662198783214
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9856464266777039,
+                    "position": [
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+                        -0.05738307611318305,
+                        0.009897760697640479
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+                    "orientation": {
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+                        "xyz": [
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+                            0.012107574854528402,
+                            -0.683666773875729
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9836713075637817,
+                    "position": [
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+                        -0.1831257723388262,
+                        0.0006785329787817318
+                    ],
+                    "orientation": {
+                        "w": 0.49111651772695514,
+                        "xyz": [
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+                            0.4884537929532474,
+                            0.5082593980728867
+                        ]
+                    }
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+                "grasp_12": {
+                    "confidence": 0.9836384057998657,
+                    "position": [
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+                        -0.05185631365748122,
+                        -0.000897020217962563
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.7026212019482636,
+                            -0.0013330855490684406
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+                "grasp_13": {
+                    "confidence": 0.9835853576660156,
+                    "position": [
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+                        -0.043687724333722144,
+                        -0.002787457895465195
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+                    "orientation": {
+                        "w": 0.003996675236660042,
+                        "xyz": [
+                            0.7023171840749882,
+                            0.02340333711474374,
+                            -0.7114681182961929
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+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9835476279258728,
+                    "position": [
+                        -0.005757698905654252,
+                        -0.18204888032050803,
+                        0.00046374008525162935
+                    ],
+                    "orientation": {
+                        "w": 0.49896864066835206,
+                        "xyz": [
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+                            0.4857987828018693,
+                            0.49825346713073604
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+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9830942749977112,
+                    "position": [
+                        -0.00608884880784899,
+                        -0.18050859199138358,
+                        -0.0036481026327237487
+                    ],
+                    "orientation": {
+                        "w": 0.5021857555983872,
+                        "xyz": [
+                            -0.4799810386296055,
+                            0.5063681062882625,
+                            0.5109001960893746
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9830923676490784,
+                    "position": [
+                        0.10887545102741569,
+                        -0.07663603202672675,
+                        0.0006137618029242731
+                    ],
+                    "orientation": {
+                        "w": 0.029006537940035382,
+                        "xyz": [
+                            -0.7116120200490144,
+                            -0.005663974986205744,
+                            0.7019507625651888
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9828640222549438,
+                    "position": [
+                        0.001782511011697352,
+                        -0.18057554290862754,
+                        0.0005038876115577295
+                    ],
+                    "orientation": {
+                        "w": 0.49425393201068735,
+                        "xyz": [
+                            -0.5049915966296673,
+                            0.49347628583381653,
+                            0.5071269006324308
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.982862114906311,
+                    "position": [
+                        0.10917595529463142,
+                        0.0683315388741903,
+                        0.002098966622725129
+                    ],
+                    "orientation": {
+                        "w": 0.7037026062733798,
+                        "xyz": [
+                            0.008182770711989846,
+                            -0.7103871759297102,
+                            0.009259830567460561
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "button pad",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press commands",
+                "input user controls",
+                "navigate menus",
+                "adjust settings"
+            ],
+            "semantic_description": "Cluster of small black buttons plus a large turquoise circular navigation pad on the front, made of plastic or rubber with a mostly matte smooth surface, slightly raised near the upper-middle area and marked with simple control icons.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "brand label",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "identify the device",
+                "provide branding",
+                "indicate orientation"
+            ],
+            "semantic_description": "Small printed white logo/text marking on the front near one end, flat and non-textured, serving as a visual identifier and orientation cue rather than a physical control.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/626a6f94e9755f95b3f92cb5e291ab66/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b9368eef4c88e94ec2e14425f513e48b2ed0598ea7f239dc93885d15fc07c4b
+size 3833648

dataset/desktop_supplies/electronic_accessories/626a6f94e9755f95b3f92cb5e291ab66/tv_remote_022.urdf

@@ -58,6 +58,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>YES</PartSegChecker>