Add asset desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1

.gitattributes

@@ -8123,3 +8123,4 @@ dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918
 dataset/desktop_supplies/electronic_accessories/c412c4fb919a5d4eb11f6ee884850a8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c89c4c828a625933a0beb1948aa805d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/affordance/affordance_annot.json

@@ -0,0 +1,332 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Orange",
+            "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 body while aiming the remote at a TV or media device",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the body while pressing buttons with another manipulator",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support front controls",
+                "provide overall structure"
+            ],
+            "semantic_description": "Long slim black plastic housing with smooth mostly matte surfaces, rounded corners, and a slightly tapered rectangular form; the back and side shell make up most of the remote.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.7875872850418091,
+                    "position": [
+                        0.009018432727316394,
+                        0.027998178964480758,
+                        -0.0969068063859595
+                    ],
+                    "orientation": {
+                        "w": 0.004554331408781013,
+                        "xyz": [
+                            0.03348057119559951,
+                            -0.007692998422770825,
+                            -0.999399383226297
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.6600252985954285,
+                    "position": [
+                        -0.0026326517981942743,
+                        -0.05857804627157748,
+                        0.08630138351873029
+                    ],
+                    "orientation": {
+                        "w": 0.221368364870104,
+                        "xyz": [
+                            -0.9746359223575104,
+                            -0.006861130176547797,
+                            -0.03215261696599759
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.6395552754402161,
+                    "position": [
+                        0.0038451286091003567,
+                        -0.039013305911794305,
+                        0.07932344540313352
+                    ],
+                    "orientation": {
+                        "w": 0.29678261816169216,
+                        "xyz": [
+                            -0.9542587759751842,
+                            -0.027534522719150467,
+                            -0.02349715067966897
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.5663992762565613,
+                    "position": [
+                        0.003371086117113009,
+                        -0.08030444220639765,
+                        0.08734852536872495
+                    ],
+                    "orientation": {
+                        "w": 0.009897860047175144,
+                        "xyz": [
+                            0.012105826020239218,
+                            -0.9728170827268581,
+                            -0.23104632630201982
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.555462658405304,
+                    "position": [
+                        0.00892657638178207,
+                        -0.168660199502483,
+                        0.04545910372689832
+                    ],
+                    "orientation": {
+                        "w": 0.06271554480634602,
+                        "xyz": [
+                            -0.0012776676777308676,
+                            -0.8698659409971312,
+                            -0.48928352996818175
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.5357256531715393,
+                    "position": [
+                        0.012362500099698082,
+                        -0.16755705163814127,
+                        -0.06022041947289836
+                    ],
+                    "orientation": {
+                        "w": 0.8817808599215616,
+                        "xyz": [
+                            -0.46224601324415165,
+                            -0.0031426836968554417,
+                            0.093708387325046
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.5161328315734863,
+                    "position": [
+                        -0.008368424692889675,
+                        0.18414714350365102,
+                        -0.003544135528500192
+                    ],
+                    "orientation": {
+                        "w": 0.7263382194924379,
+                        "xyz": [
+                            0.6866581686554877,
+                            0.002059638471913483,
+                            0.030481276426879443
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.4557051658630371,
+                    "position": [
+                        -0.0036557364219333977,
+                        -0.1639089493546635,
+                        -0.05307433292909991
+                    ],
+                    "orientation": {
+                        "w": 0.8710873997371656,
+                        "xyz": [
+                            -0.489988357840276,
+                            0.03229327513709668,
+                            0.008677302636921031
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.45357832312583923,
+                    "position": [
+                        -0.013799179898342118,
+                        0.1732914389576763,
+                        -0.002996241018990986
+                    ],
+                    "orientation": {
+                        "w": 0.6937490781924881,
+                        "xyz": [
+                            0.7125186770947501,
+                            -0.04245381212803234,
+                            0.09605740540956756
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.4313361346721649,
+                    "position": [
+                        -0.010441095189889893,
+                        0.18214062764309347,
+                        -0.003851720641250722
+                    ],
+                    "orientation": {
+                        "w": 0.045681980059225594,
+                        "xyz": [
+                            0.0028709385080623625,
+                            0.6918851898618846,
+                            -0.7205552015354102
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.42505133152008057,
+                    "position": [
+                        0.010291609360137954,
+                        0.1553526462521404,
+                        -0.06142616928264033
+                    ],
+                    "orientation": {
+                        "w": 0.8952896630934885,
+                        "xyz": [
+                            0.44496893929465997,
+                            -0.021202710601353147,
+                            0.0030833884102400805
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.40503183007240295,
+                    "position": [
+                        0.0016839307791087776,
+                        0.1629365326371044,
+                        0.045174867802415974
+                    ],
+                    "orientation": {
+                        "w": 0.5202533373995755,
+                        "xyz": [
+                            0.8537747046599986,
+                            0.0002698189032537268,
+                            0.020128234028225073
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.3654492497444153,
+                    "position": [
+                        0.0037488855014089495,
+                        0.15275442018173635,
+                        -0.05616605565592181
+                    ],
+                    "orientation": {
+                        "w": 0.8811765802724691,
+                        "xyz": [
+                            0.47147978177199157,
+                            0.013303290019927028,
+                            -0.03252187316558115
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.350772500038147,
+                    "position": [
+                        0.011297684541204944,
+                        0.10607636137865484,
+                        -0.06853736475750338
+                    ],
+                    "orientation": {
+                        "w": 0.9135725359912554,
+                        "xyz": [
+                            0.4037506039715181,
+                            -0.044089055801482924,
+                            0.0206597781613095
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front control panel",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount control buttons",
+                "provide command interface area",
+                "organize user controls",
+                "define the front operating side"
+            ],
+            "semantic_description": "Large black top-facing front section on the remote face, with a smooth slightly matte finish and multiple grouped buttons; it occupies most of the front face apart from the white branded end cap.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "directional ring",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "navigate menus",
+                "provide directional input",
+                "surround select control",
+                "central thumb control"
+            ],
+            "semantic_description": "Large circular black ring near one end of the front face, made of hard plastic with a matte smooth finish and a recessed donut-like shape around the center button.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center select button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "confirm selection",
+                "actuate central command",
+                "support menu interaction"
+            ],
+            "semantic_description": "Small round dark button centered inside the directional ring, with a smooth hard-plastic surface and slightly recessed placement in the front control cluster.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small rectangular function buttons",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "trigger discrete commands",
+                "provide shortcut controls",
+                "support media or navigation inputs"
+            ],
+            "semantic_description": "A grouped set of small black rectangular buttons arranged in rows on the front face, each with white printed legends or symbols; they sit between the directional pad and the opposite end.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Peach",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn device on or off",
+                "provide quick power control",
+                "visually highlight the primary control"
+            ],
+            "semantic_description": "A small bright red rounded rectangular button at one corner of the remote, with a smooth slightly glossier plastic finish that stands out from the black body.",
+            "id": null
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front panel description wrongly includes white end cap not in green mask; several button part locations/descriptions are inaccurate."
+    }
+}

dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b92d0eb8202594c1542b16924d5b2acd7f73a47a81588971a6334e3202a511ba
+size 3809688

dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/tv_remote_019.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>NO: {"summary":"Buttons and end cap are merged into main body; code cannot fix missing part boundaries by merging.","merge_groups":[]}</PartSegChecker>