Add asset desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e

.gitattributes

@@ -6189,3 +6189,4 @@ dataset/desktop_supplies/electronic_accessories/1729ca28a58e5dce888f76fb1a6c58a4
 dataset/desktop_supplies/electronic_accessories/17e31f8b03c958faa80d56b667893877/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/13d2e898e9025206b0914dec12dbfc3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/affordance/affordance_annot.json

@@ -0,0 +1,376 @@
+{
+    "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 device",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the body to stabilize the remote while pressing buttons",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pinch one end of the body to reposition or place the remote",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support all controls",
+                "provide overall structure"
+            ],
+            "semantic_description": "Elongated rounded black plastic shell with a matte smooth hard surface, forming most of the remote's size and thickness with softly curved edges and a small port opening on one end.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.7935449481010437,
+                    "position": [
+                        0.007515778444940224,
+                        0.03189069568179548,
+                        -0.10118025552947074
+                    ],
+                    "orientation": {
+                        "w": 0.9998839799397403,
+                        "xyz": [
+                            0.005161225707046063,
+                            -0.003423171093603239,
+                            0.013916548017722451
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.7695955038070679,
+                    "position": [
+                        0.014237721130484715,
+                        0.033632702892646194,
+                        -0.10005685698706657
+                    ],
+                    "orientation": {
+                        "w": 0.9993429774922974,
+                        "xyz": [
+                            0.005164674444407034,
+                            -0.02945022516295892,
+                            0.02048471900132737
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.754991352558136,
+                    "position": [
+                        0.007804649096215144,
+                        0.032074169954285026,
+                        -0.098644241807051
+                    ],
+                    "orientation": {
+                        "w": 0.9999283146050446,
+                        "xyz": [
+                            0.00845832378774714,
+                            0.0009217663737274284,
+                            0.00842453301783305
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.7388375401496887,
+                    "position": [
+                        0.012266389705473557,
+                        0.01699898554943502,
+                        -0.10018725704867393
+                    ],
+                    "orientation": {
+                        "w": 0.9995733805673042,
+                        "xyz": [
+                            0.012018430208728021,
+                            -0.023584864534102357,
+                            0.012343757996538206
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.7382450103759766,
+                    "position": [
+                        0.0022803036554250866,
+                        0.049031045055016875,
+                        -0.09994412970263511
+                    ],
+                    "orientation": {
+                        "w": 0.03704410035954247,
+                        "xyz": [
+                            -0.003458219677158203,
+                            -0.001890746923787101,
+                            -0.9993058592949842
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.7316495776176453,
+                    "position": [
+                        0.007504441920900717,
+                        0.052583850687369704,
+                        -0.10174749803263694
+                    ],
+                    "orientation": {
+                        "w": 0.9998181509174606,
+                        "xyz": [
+                            -0.0015421947311836026,
+                            -7.84331888948886e-05,
+                            0.019007382240490797
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.7278996109962463,
+                    "position": [
+                        0.022279482946032658,
+                        0.043613087153062224,
+                        -0.10290469985920936
+                    ],
+                    "orientation": {
+                        "w": 0.036407488716687156,
+                        "xyz": [
+                            0.07422993669695917,
+                            -0.00328913715565593,
+                            -0.9965709171153256
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.7161659002304077,
+                    "position": [
+                        0.0073253010923508555,
+                        0.04962968803010881,
+                        -0.1002776549430564
+                    ],
+                    "orientation": {
+                        "w": 0.9997931252987431,
+                        "xyz": [
+                            -0.0006208728487398237,
+                            0.006214734676388778,
+                            0.019357122595563606
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.7111899852752686,
+                    "position": [
+                        0.011697978392476216,
+                        0.08072866103611887,
+                        -0.0869676397414878
+                    ],
+                    "orientation": {
+                        "w": 0.0361096537776277,
+                        "xyz": [
+                            0.044369880842117966,
+                            0.2606947936633459,
+                            -0.96372487315361
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.7059598565101624,
+                    "position": [
+                        0.014917286724084988,
+                        0.02604681788943708,
+                        -0.104303561267443
+                    ],
+                    "orientation": {
+                        "w": 0.9996585853200932,
+                        "xyz": [
+                            -0.004568572831561343,
+                            -0.01733747656516449,
+                            0.019006652637041474
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.7037740349769592,
+                    "position": [
+                        0.006108022440457717,
+                        0.051180816954001784,
+                        -0.08857837331015617
+                    ],
+                    "orientation": {
+                        "w": 0.05011742266135483,
+                        "xyz": [
+                            0.014269643755477818,
+                            0.26619930057891117,
+                            -0.9625084693571138
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.6847531795501709,
+                    "position": [
+                        0.0015121605538297445,
+                        0.05464245728217065,
+                        -0.10217013221699744
+                    ],
+                    "orientation": {
+                        "w": 0.040133976277712216,
+                        "xyz": [
+                            -0.001533881616537587,
+                            -0.013078339556486518,
+                            -0.9991075358487549
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.6840885877609253,
+                    "position": [
+                        0.016144607827300206,
+                        0.05755350342951715,
+                        -0.10291368525940925
+                    ],
+                    "orientation": {
+                        "w": 0.9988420663259477,
+                        "xyz": [
+                            -0.013812430828466478,
+                            -0.03835146467362971,
+                            0.025552073295657368
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.6828500032424927,
+                    "position": [
+                        0.010005873307818547,
+                        -0.0031889856327325106,
+                        -0.1041960419388488
+                    ],
+                    "orientation": {
+                        "w": 0.0004027326259975563,
+                        "xyz": [
+                            -0.021084988589295552,
+                            0.010560010742730719,
+                            0.999721834929964
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.6652530431747437,
+                    "position": [
+                        0.0016314823005814105,
+                        0.09224354079924524,
+                        -0.08729060750920326
+                    ],
+                    "orientation": {
+                        "w": 0.037658919338644944,
+                        "xyz": [
+                            0.010062587006932251,
+                            0.26869776175514437,
+                            -0.9624354850922472
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front face panel",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount controls",
+                "present user interface",
+                "cover front electronics",
+                "provide orientation cues"
+            ],
+            "semantic_description": "Large black front panel area with a smooth slightly satin plastic finish on the upper face, occupying most of the front surface and carrying the visible buttons and white brand text.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "navigation ring",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press directional commands",
+                "navigate menus",
+                "provide primary control input"
+            ],
+            "semantic_description": "Large circular black directional ring near the lower half of the front face, with directional arrow markings around a smaller center button.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "select button",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "confirm selections",
+                "press center input",
+                "trigger primary action"
+            ],
+            "semantic_description": "Small dark rectangular center button with rounded corners, inset within the circular navigation control.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical rocker button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide up-down input",
+                "adjust a paired setting",
+                "serve as a two-way control"
+            ],
+            "semantic_description": "Blue central section of the pill-shaped rocker near the upper front face, between two white end sections.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pill-shaped end buttons",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide discrete button input",
+                "trigger paired upper and lower commands",
+                "support quick control actions"
+            ],
+            "semantic_description": "Two white rounded end sections of the pill-shaped control on the upper central front face, one above and one below the blue middle section.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "microphone button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "activate voice input",
+                "trigger auxiliary command",
+                "provide quick access input"
+            ],
+            "semantic_description": "Very small round black button on the front face beside the main controls, marked with a tiny white microphone icon and slightly raised for fingertip pressing.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back/secondary button",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "trigger a secondary command",
+                "support menu navigation",
+                "provide quick shortcut input"
+            ],
+            "semantic_description": "Small round black front button near the upper controls with a tiny white icon, positioned to the side of the pill-shaped control as a distinct secondary key.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part descriptions mismatch visible colors/shapes; center button shape and rocker colors are incorrect."
+    }
+}

dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7337d25d21cb3db1406efa4acfbea76b42f56d50d8a92a07602eba4bc8a1e54
+size 3787036

dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/tv_remote_026.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>