Add asset desktop_supplies/electronic_accessories/6b9e01cf729e50e08ac42584ea78205f

.gitattributes

@@ -6231,3 +6231,4 @@ dataset/desktop_supplies/electronic_accessories/5a24ef163c6a5381939bcf5b03e1e0ab
 dataset/desktop_supplies/electronic_accessories/635bc3097cf25a858149c2b3f489b323/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/6b85303069285d3a87cc26607d1f5828/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/6b9e01cf729e50e08ac42584ea78205f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/6b9e01cf729e50e08ac42584ea78205f/affordance/affordance_annot.json

@@ -0,0 +1,271 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body around the sides to pick up and hold the remote",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body to stabilize the remote while pressing buttons",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the body to place or reposition the remote on a surface",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support button layout",
+                "provide overall structure",
+                "enable handheld control"
+            ],
+            "semantic_description": "Long light-gray plastic housing with a smooth matte to satin finish, rounded rectangular shape, slim handheld size, and gently rounded ends enclosing the front controls and back cover.",
+            "id": 15,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9917901754379272,
+                    "position": [
+                        0.0982454194163438,
+                        -0.009677015012130141,
+                        1.4721299521625042e-05
+                    ],
+                    "orientation": {
+                        "w": 0.05769511552810226,
+                        "xyz": [
+                            -0.7071069817989523,
+                            0.02933369548400122,
+                            0.7041381428701525
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9906416535377502,
+                    "position": [
+                        0.09450541422120295,
+                        0.01584201049990952,
+                        0.02003589167725295
+                    ],
+                    "orientation": {
+                        "w": 0.08605654483477634,
+                        "xyz": [
+                            -0.7729840370414843,
+                            0.042024654108312465,
+                            0.6271553858632053
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.990552544593811,
+                    "position": [
+                        0.09776190653792582,
+                        0.011334353359416127,
+                        -0.004348616930656135
+                    ],
+                    "orientation": {
+                        "w": 0.7164362659809429,
+                        "xyz": [
+                            -0.011208489578218354,
+                            -0.6970928815895012,
+                            -0.02559220556935649
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9905086755752563,
+                    "position": [
+                        0.09972609565011226,
+                        -0.006345491157844663,
+                        -0.004866328672505915
+                    ],
+                    "orientation": {
+                        "w": 0.03856711318322641,
+                        "xyz": [
+                            -0.6970568366120117,
+                            0.019525128921851875,
+                            0.7157116134685483
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9902065396308899,
+                    "position": [
+                        0.09557433411828242,
+                        -0.00016075652092695236,
+                        -0.0008536333334632218
+                    ],
+                    "orientation": {
+                        "w": 0.12442108680494862,
+                        "xyz": [
+                            -0.7027398702188948,
+                            0.10415316034490674,
+                            0.6926963166880379
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.989686906337738,
+                    "position": [
+                        0.09970255181542598,
+                        0.007626855047419667,
+                        0.00014057080261409283
+                    ],
+                    "orientation": {
+                        "w": 0.7069125943956988,
+                        "xyz": [
+                            -0.010622034442963564,
+                            -0.7068673147737768,
+                            -0.022368629228135383
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9888384342193604,
+                    "position": [
+                        0.09943494186154567,
+                        0.008309571305289865,
+                        -0.008978332509286702
+                    ],
+                    "orientation": {
+                        "w": 0.7288407746185676,
+                        "xyz": [
+                            -0.009862339430452654,
+                            -0.6838183486676916,
+                            -0.03295945296506534
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.988373875617981,
+                    "position": [
+                        0.09646625057212077,
+                        -0.025536474538967013,
+                        -0.013040679623372853
+                    ],
+                    "orientation": {
+                        "w": 0.059584786532252514,
+                        "xyz": [
+                            -0.6652260837782172,
+                            0.010007167288009433,
+                            0.7441933668596302
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9877937436103821,
+                    "position": [
+                        0.09926232681027614,
+                        0.024976666318252683,
+                        -0.003220257698558271
+                    ],
+                    "orientation": {
+                        "w": 0.04553669710684156,
+                        "xyz": [
+                            0.695388446887593,
+                            0.010294314433199059,
+                            -0.717115990786854
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9877141714096069,
+                    "position": [
+                        0.09609812483540736,
+                        0.027275509433820844,
+                        -0.0018076890846714377
+                    ],
+                    "orientation": {
+                        "w": 0.03645108684723074,
+                        "xyz": [
+                            -0.7019636078581513,
+                            0.020993967298016836,
+                            0.7109695245560903
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9876226186752319,
+                    "position": [
+                        -0.09824748351820745,
+                        0.010138790355995297,
+                        -0.0014989908959250897
+                    ],
+                    "orientation": {
+                        "w": 0.017040932633181294,
+                        "xyz": [
+                            -0.6934213609662911,
+                            0.006229921235900271,
+                            -0.7203038323180311
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9876169562339783,
+                    "position": [
+                        0.09634336069575511,
+                        -0.018157631857320666,
+                        -0.0002561310539022088
+                    ],
+                    "orientation": {
+                        "w": 0.7009589274694513,
+                        "xyz": [
+                            -0.014651014626152285,
+                            -0.7129592921204738,
+                            -0.011444542383769423
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "button pad",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press commands",
+                "enter numbers",
+                "navigate menus",
+                "trigger device functions"
+            ],
+            "semantic_description": "Multiple small dark gray buttons plus a larger circular navigation control on the front face, mostly matte, slightly raised, with printed icons and a clustered central layout.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn device on or off",
+                "provide primary control access"
+            ],
+            "semantic_description": "Small round button with a red top accent near an upper corner of the front face, slightly raised with a smooth finish and a power symbol marking.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small dark end opening",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "end opening or port feature",
+                "small exterior interface/detail"
+            ],
+            "semantic_description": "Small dark blue-black recessed opening at one end edge of the remote, visible as a tiny dark cutout or slot in angled views.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Power button color/position and end opening description are inaccurate; some functions too vague."
+    }
+}

dataset/desktop_supplies/electronic_accessories/6b9e01cf729e50e08ac42584ea78205f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faf077886a8f267c0e44e1edb494f619246c723e8e4fa689ac4e4e268bacc559
+size 3824496

dataset/desktop_supplies/electronic_accessories/6b9e01cf729e50e08ac42584ea78205f/tv_remote_004.urdf

@@ -54,6 +54,7 @@
                <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>