Add asset desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8

.gitattributes

@@ -6210,3 +6210,4 @@ dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede
 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/4c314c9e5c945745bc4f4dacac5f6d1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/affordance/affordance_annot.json

@@ -0,0 +1,235 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body from the sides to pick up the remote",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body to reposition or place the remote on a surface",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "stabilize the body while another tool presses buttons",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support all controls",
+                "provide overall structure"
+            ],
+            "semantic_description": "Long slim white to light gray plastic housing with a smooth matte finish, rounded corners, and a flat rectangular shape forming the back shell and side surfaces of the remote.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8764370083808899,
+                    "position": [
+                        0.0031136301113292575,
+                        0.1379272702615708,
+                        -0.006107941153459251
+                    ],
+                    "orientation": {
+                        "w": 0.0613139591984316,
+                        "xyz": [
+                            0.03487404986425973,
+                            -0.6992558684456431,
+                            0.7113828993571665
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8499268293380737,
+                    "position": [
+                        0.008963861619122326,
+                        0.13654107484035194,
+                        0.0008021780522540212
+                    ],
+                    "orientation": {
+                        "w": 0.7026580384641399,
+                        "xyz": [
+                            0.7105910178880555,
+                            -0.036333823996092085,
+                            -0.0034553599472749628
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8045116066932678,
+                    "position": [
+                        0.010378333856351674,
+                        0.12929817172698677,
+                        -0.010186814120970666
+                    ],
+                    "orientation": {
+                        "w": 0.034919981667816936,
+                        "xyz": [
+                            -0.005873558215983096,
+                            -0.6927785126289867,
+                            0.7202805207929557
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.78005450963974,
+                    "position": [
+                        -0.008422338287346065,
+                        -0.13421823945827782,
+                        -0.012993815704248846
+                    ],
+                    "orientation": {
+                        "w": 0.729752113162739,
+                        "xyz": [
+                            -0.6821487623589898,
+                            0.02554401900170189,
+                            -0.03850223941352187
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.770021378993988,
+                    "position": [
+                        0.0168796629877761,
+                        0.1302019867580384,
+                        0.0018027130281552672
+                    ],
+                    "orientation": {
+                        "w": 0.03699049775345446,
+                        "xyz": [
+                            -0.026859110966355557,
+                            -0.7227683517517028,
+                            0.6895768274385201
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.7418506145477295,
+                    "position": [
+                        -0.006322509027086198,
+                        -0.1440832403022796,
+                        -0.0016853732377057895
+                    ],
+                    "orientation": {
+                        "w": 0.7048957244317263,
+                        "xyz": [
+                            -0.7084201737126365,
+                            -0.008154923142025039,
+                            -0.03458861638425888
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.6742579936981201,
+                    "position": [
+                        0.008265215088613331,
+                        -0.13753565517254174,
+                        -0.00722581974696368
+                    ],
+                    "orientation": {
+                        "w": 0.7188313918721037,
+                        "xyz": [
+                            -0.6944732771050683,
+                            -0.02673976648294929,
+                            -0.01653125326762879
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.6110197901725769,
+                    "position": [
+                        0.009965418023057282,
+                        -0.13860882190056145,
+                        -0.0029598611872643232
+                    ],
+                    "orientation": {
+                        "w": 0.7146588119276543,
+                        "xyz": [
+                            -0.6993527899698656,
+                            -0.01219558558423195,
+                            0.004441327253928874
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front panel",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide the main control surface",
+                "support button placement",
+                "define the front operating face"
+            ],
+            "semantic_description": "White to light gray front panel covering most of the remote's top side, smooth and slightly recessed around the controls.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "number and command buttons",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press to enter numbers",
+                "issue command inputs",
+                "select channels or options"
+            ],
+            "semantic_description": "Cluster of small round to oval white buttons on the upper-middle area of the front face, arranged in a compact keypad-like grouping with printed symbols or numerals.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "navigation pad",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "navigate menus",
+                "confirm selections",
+                "provide directional input",
+                "central control interface"
+            ],
+            "semantic_description": "Large circular white control pad on the front face with a central select area, slightly raised and larger than the surrounding buttons.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn the device on or off",
+                "provide primary power control"
+            ],
+            "semantic_description": "Small round white button near one end of the front face, separated from the main button cluster and marked with a power symbol.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "infrared emitter window",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "emit infrared signal",
+                "provide communication aperture",
+                "indicate the transmitting end of the remote"
+            ],
+            "semantic_description": "Small dark rectangular window at the tip of one short end of the remote, visible on the end face rather than as a long slit.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several visual descriptions are wrong: buttons/pad are not white, power button placement is wrong, and IR window is a slit on the end edge."
+    }
+}

dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb643f7abd71dbe0fff1955cc3e38bfce2a89ca0d6ac7ebaf667433a7948b613
+size 3803324

dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8/tv_remote_005.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>