Add asset desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a

.gitattributes

@@ -6208,3 +6208,4 @@ dataset/desktop_supplies/electronic_accessories/46dee8f02ac7599aa5905a014752b1b1
 dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/4a41969ca9cc5a8093023efcbea8f824/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a/ac_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>

dataset/desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a/affordance/affordance_annot.json

@@ -0,0 +1,239 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body from the sides to pick up and hold the remote",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the remote body while aiming it at the air conditioner",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the remote body while pressing front buttons",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support all controls",
+                "provide overall structure"
+            ],
+            "semantic_description": "Elongated white plastic housing with a smooth matte to satin surface, rounded corners, and a slim hand-sized form making up the back, sides, and overall structure of the remote.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9700537919998169,
+                    "position": [
+                        0.0027265802200417966,
+                        -0.04679100698558614,
+                        0.08215839671902359
+                    ],
+                    "orientation": {
+                        "w": 0.2819155117301563,
+                        "xyz": [
+                            -0.9594358434782682,
+                            -0.0013562140629874708,
+                            -0.0021603653587654007
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9686281085014343,
+                    "position": [
+                        -0.00900841856491752,
+                        -0.028048715728800744,
+                        -0.10034454357810318
+                    ],
+                    "orientation": {
+                        "w": 0.998633532345213,
+                        "xyz": [
+                            0.019925502216585834,
+                            0.04821520855336536,
+                            -0.003055503443734002
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9682444930076599,
+                    "position": [
+                        -0.009566576016368344,
+                        -0.03004188201157376,
+                        -0.10141981882043183
+                    ],
+                    "orientation": {
+                        "w": 0.9985582925061832,
+                        "xyz": [
+                            0.00789264569603702,
+                            0.04876999244139246,
+                            -0.020988817220563765
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9652243256568909,
+                    "position": [
+                        0.008020412380574271,
+                        -0.03053017071215436,
+                        -0.10140408319421113
+                    ],
+                    "orientation": {
+                        "w": 0.9991570607395495,
+                        "xyz": [
+                            0.012215897396293541,
+                            -0.03899921782998994,
+                            0.003873090982252828
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9604011178016663,
+                    "position": [
+                        0.005770303512690589,
+                        -0.031251800421159714,
+                        -0.10099525493569672
+                    ],
+                    "orientation": {
+                        "w": 0.9983405304945034,
+                        "xyz": [
+                            0.0061281041919470395,
+                            -0.027748620509915445,
+                            -0.050086381090695194
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.949635922908783,
+                    "position": [
+                        0.00026555274962447584,
+                        0.10415623971493915,
+                        -0.06712572020478547
+                    ],
+                    "orientation": {
+                        "w": 0.054988712348895,
+                        "xyz": [
+                            -0.008770581680930555,
+                            0.3937182932273302,
+                            -0.9175430365870296
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9474151730537415,
+                    "position": [
+                        0.013257113489089534,
+                        -0.001588154525961727,
+                        0.08483401197008789
+                    ],
+                    "orientation": {
+                        "w": 0.11129184092396442,
+                        "xyz": [
+                            0.0026211894144101164,
+                            -0.9779081664544209,
+                            0.17692618091046097
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9471806883811951,
+                    "position": [
+                        0.015457127447007224,
+                        -0.08899174741236493,
+                        0.07650130498223007
+                    ],
+                    "orientation": {
+                        "w": 0.2914972346671233,
+                        "xyz": [
+                            -0.9540082512723581,
+                            0.005243352459360806,
+                            0.06978628762632783
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front face panel",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly brace the front face against the fingers while pressing buttons or repositioning the remote",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "mount controls",
+                "present user interface",
+                "cover front electronics",
+                "indicate operating side"
+            ],
+            "semantic_description": "Large white plastic front panel with a smooth matte finish covering most of the top face, flat and slightly rounded at the ends, visually defining the control side of the remote.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "display screen",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display settings",
+                "show temperature or mode",
+                "provide status feedback",
+                "indicate operating state"
+            ],
+            "semantic_description": "Small dark gray rectangular screen set into the upper front face, likely glossy plastic or glass with a smooth reflective surface and a recessed display window.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "control buttons",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press to control AC functions",
+                "turn power on or off",
+                "change settings",
+                "select operating modes"
+            ],
+            "semantic_description": "Several small round and oval buttons on the front, mostly white with one orange power button, made of smooth plastic or rubber and arranged in a compact central cluster with printed icons.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "battery compartment release area",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "push or pinch the small release area at the back end to open the battery compartment for battery replacement",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "use a fingertip to manipulate the release feature while sliding or removing the battery cover",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "release battery compartment",
+                "assist battery cover removal",
+                "enable battery replacement",
+                "provide small manipulation point"
+            ],
+            "semantic_description": "A small pale beige or yellowish release feature near the back-end battery compartment on the underside/end of the remote, slightly recessed and sized for fingertip manipulation.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Battery release area mislabeled and misdescribed; mask marks battery contacts/end compartment, not a release feature."
+    }
+}

dataset/desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51ac178d495ea47543138ff8e93acd2193ad4ab34d95d9e40fe2653e00af5727
+size 3787468