Add asset desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305

.gitattributes

@@ -6268,3 +6268,4 @@ dataset/desktop_supplies/electronic_accessories/a44a56ab097b584a90cd29e4a7855ea5
 dataset/desktop_supplies/electronic_accessories/a56b50b0cc2d5859a930d4883ed03f27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/a85ad31236be54a79f066616dd30793e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/ab137e9445175a489552ca6e2b3362a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/affordance/affordance_annot.json

@@ -0,0 +1,286 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Cyan",
+            "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 stabilize the remote while another tool presses buttons",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the lower body to place or reposition the remote on a surface",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support internal components",
+                "provide overall structure",
+                "stabilize the remote during use"
+            ],
+            "semantic_description": "Long slim dark gray to black plastic housing with a matte smooth surface, rounded corners, and a slightly tapered rectangular shape forming most of the remote's sides, back, and lower front area.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.6465104818344116,
+                    "position": [
+                        0.005725480092223734,
+                        0.15967005549464375,
+                        -0.05495602019072976
+                    ],
+                    "orientation": {
+                        "w": 0.051875016007200826,
+                        "xyz": [
+                            0.015770502431064468,
+                            0.48477247313038585,
+                            -0.8729581451950453
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.6382455229759216,
+                    "position": [
+                        0.004400616453494877,
+                        -0.18288952053990215,
+                        -0.009282168335630558
+                    ],
+                    "orientation": {
+                        "w": 0.717417580176354,
+                        "xyz": [
+                            -0.689313125191646,
+                            0.04358325259870788,
+                            0.09088416355641081
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.6128787994384766,
+                    "position": [
+                        -0.006912189594004303,
+                        0.18563690839800984,
+                        -0.0021953311370452866
+                    ],
+                    "orientation": {
+                        "w": 0.7063745387178723,
+                        "xyz": [
+                            0.7049510935470822,
+                            -0.03613496500174773,
+                            0.052661476073201686
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.6034635901451111,
+                    "position": [
+                        0.0005947488243691623,
+                        -0.1799742573639378,
+                        -0.004237670320435427
+                    ],
+                    "orientation": {
+                        "w": 0.7198070703846088,
+                        "xyz": [
+                            -0.6941422831594567,
+                            -0.006329948261707408,
+                            -0.002050343753588956
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.6027559638023376,
+                    "position": [
+                        0.004297986102756113,
+                        0.1703835582593456,
+                        0.003084432231844403
+                    ],
+                    "orientation": {
+                        "w": 0.030993700645411234,
+                        "xyz": [
+                            0.01449545801007557,
+                            0.7171185668863933,
+                            -0.6961107909264055
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.5507411956787109,
+                    "position": [
+                        0.012102733773645014,
+                        0.16672524868045002,
+                        0.04243669159768615
+                    ],
+                    "orientation": {
+                        "w": 0.5161329443255197,
+                        "xyz": [
+                            0.8559854599607796,
+                            -0.022988562480121932,
+                            -0.019162518433132984
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.5371646285057068,
+                    "position": [
+                        0.00686705851694569,
+                        0.16394519864115864,
+                        0.04854703567980323
+                    ],
+                    "orientation": {
+                        "w": 0.028695535351566197,
+                        "xyz": [
+                            0.02720570215830519,
+                            0.8722104618835103,
+                            -0.48752982083346985
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.5072602033615112,
+                    "position": [
+                        -0.005373090098146349,
+                        0.16531649290118366,
+                        -0.011061973273172043
+                    ],
+                    "orientation": {
+                        "w": 0.041451691085837974,
+                        "xyz": [
+                            0.0035062144414964537,
+                            0.6952856877890266,
+                            -0.7175285890625921
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.4867253303527832,
+                    "position": [
+                        0.016218040545936674,
+                        -0.1630846852203831,
+                        -0.05131745092512574
+                    ],
+                    "orientation": {
+                        "w": 0.03490199396556744,
+                        "xyz": [
+                            0.030184191931994266,
+                            -0.5019432782814062,
+                            -0.8636687505998781
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.4791419804096222,
+                    "position": [
+                        0.0060233258991502225,
+                        -0.1656178826233372,
+                        0.04501770682691131
+                    ],
+                    "orientation": {
+                        "w": 0.4943208776770164,
+                        "xyz": [
+                            -0.8667753502444379,
+                            -0.06069878732920586,
+                            -0.025749161501297104
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.449327290058136,
+                    "position": [
+                        0.002611129719298333,
+                        -0.18907725752796978,
+                        -0.0026787739334395155
+                    ],
+                    "orientation": {
+                        "w": 0.7168357750045354,
+                        "xyz": [
+                            -0.6971576151936902,
+                            -0.005237699973514753,
+                            -0.009502512829849647
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.4361979365348816,
+                    "position": [
+                        0.006361573876347393,
+                        0.16661734937224537,
+                        -0.0005618524592136964
+                    ],
+                    "orientation": {
+                        "w": 0.7060603409018514,
+                        "xyz": [
+                            0.7074076430013732,
+                            -0.010724785004132209,
+                            0.030630060649928795
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "button pad",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept button presses",
+                "input commands",
+                "provide tactile control points",
+                "select functions"
+            ],
+            "semantic_description": "Cluster of small black buttons with a matte slightly textured surface, arranged in a compact grid near the upper-middle front face with white printed symbols or numbers.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "sensor window",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "emit control signal",
+                "protect the transmitter opening",
+                "indicate the transmitting end"
+            ],
+            "semantic_description": "Small dark red translucent rectangular window inset at the front tip of the remote, glossy and smooth, serving as the signal-transmitting face.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top accent panel",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate control zones",
+                "highlight the transmitter area",
+                "cover front-end surface area"
+            ],
+            "semantic_description": "Light beige rectangular plastic panel near the front end of the remote, matte and smooth, positioned between the button pad and the transmitter window area.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "brand label",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "show branding",
+                "identify the product",
+                "provide a visual label area"
+            ],
+            "semantic_description": "White printed brand text on the upper portion of the front face of the dark remote body, flat and non-raised, contrasting against the black surface.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56c8f40a34131a5a625d0d9e62fa3abfce57f2e707fe3b01519f3762887adcb6
+size 3817212

dataset/desktop_supplies/electronic_accessories/ab2e0ff593d15d46bd7b260929df9305/tv_remote_028.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>