Add asset desktop_supplies/electronic_accessories/1b18935122465a15bbb2db0eb78f33b9

.gitattributes

@@ -6188,3 +6188,4 @@ dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16
 dataset/desktop_supplies/electronic_accessories/1729ca28a58e5dce888f76fb1a6c58a4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/1b18935122465a15bbb2db0eb78f33b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/1b18935122465a15bbb2db0eb78f33b9/affordance/affordance_annot.json

@@ -0,0 +1,336 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body from the sides to pick up and move the remote",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body to stabilize the remote while pressing buttons with another tool",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the body near one end to reorient or place the remote down",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support all controls",
+                "provide overall structure",
+                "rest on surfaces"
+            ],
+            "semantic_description": "The main body is a slim rounded-rectangle shell with a dark gray to black front face and white side/back housing, made of smooth hard plastic and forming nearly the entire remote.",
+            "id": 14,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9913741946220398,
+                    "position": [
+                        0.1037803427898325,
+                        -0.05221521621569991,
+                        -0.00716440612450242
+                    ],
+                    "orientation": {
+                        "w": 0.0757532381416022,
+                        "xyz": [
+                            -0.6967664066002813,
+                            0.04067596537744056,
+                            0.7121260333571631
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.991107165813446,
+                    "position": [
+                        0.1065923185669817,
+                        0.04979047039523721,
+                        -0.001250894390977919
+                    ],
+                    "orientation": {
+                        "w": 0.04736648523742793,
+                        "xyz": [
+                            0.7111174339778538,
+                            -0.007399600204986423,
+                            -0.7014368518161929
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9908419847488403,
+                    "position": [
+                        0.1034465791308321,
+                        -0.045583398547023535,
+                        -4.704366438090801e-05
+                    ],
+                    "orientation": {
+                        "w": 0.03042105087431783,
+                        "xyz": [
+                            -0.7170548740211087,
+                            0.008577376358612776,
+                            0.6962997170192422
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9900346398353577,
+                    "position": [
+                        0.10358813271159306,
+                        -0.03976448019966483,
+                        -0.002321510313777253
+                    ],
+                    "orientation": {
+                        "w": 0.0019762057483821297,
+                        "xyz": [
+                            0.7128048440137845,
+                            -0.024402570768278453,
+                            -0.7009349923503774
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9900279641151428,
+                    "position": [
+                        -0.08480478212004527,
+                        0.09387153247371316,
+                        -0.004500204115174711
+                    ],
+                    "orientation": {
+                        "w": 0.6756753753558405,
+                        "xyz": [
+                            0.19760213619586683,
+                            0.6848494631887637,
+                            -0.1881419561890318
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9897018671035767,
+                    "position": [
+                        0.09395303443307057,
+                        0.08763594040647149,
+                        -0.002287771349074319
+                    ],
+                    "orientation": {
+                        "w": 0.16851487678988475,
+                        "xyz": [
+                            0.6876551571912378,
+                            0.16665384710622677,
+                            -0.6862649753072625
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9891074299812317,
+                    "position": [
+                        0.10021255031460896,
+                        -0.051351556088775396,
+                        -0.004653159296140075
+                    ],
+                    "orientation": {
+                        "w": 0.035019463760141124,
+                        "xyz": [
+                            -0.7024725385449789,
+                            0.010285087850162578,
+                            0.7107743571036029
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9890867471694946,
+                    "position": [
+                        0.09420325473183766,
+                        0.08745332667604089,
+                        0.0016963733360171318
+                    ],
+                    "orientation": {
+                        "w": 0.1679004243908369,
+                        "xyz": [
+                            0.6986662796218825,
+                            0.160725085684994,
+                            -0.6766404688165238
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9890702962875366,
+                    "position": [
+                        0.10129497811431065,
+                        -0.03379088407382369,
+                        -0.0017053369083441794
+                    ],
+                    "orientation": {
+                        "w": 0.0016724616508677545,
+                        "xyz": [
+                            0.7066486957297098,
+                            0.009650874011578936,
+                            -0.7074967733681469
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.988987386226654,
+                    "position": [
+                        0.10344581172103062,
+                        0.04849758604541421,
+                        -0.0008222237229347229
+                    ],
+                    "orientation": {
+                        "w": 0.042488959755613766,
+                        "xyz": [
+                            0.7072219931994,
+                            -0.003318695899170776,
+                            -0.7057058359482956
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9888707995414734,
+                    "position": [
+                        0.1075342507683672,
+                        -0.04398096865043044,
+                        -0.005870784167200327
+                    ],
+                    "orientation": {
+                        "w": 0.014210536937693414,
+                        "xyz": [
+                            -0.7031043626957537,
+                            0.00579696108517358,
+                            0.7109210301013167
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9887922406196594,
+                    "position": [
+                        0.09136798098916188,
+                        0.0895609543658793,
+                        -0.00530986743979156
+                    ],
+                    "orientation": {
+                        "w": 0.18217595586618204,
+                        "xyz": [
+                            0.6756770262021322,
+                            0.16924435380658243,
+                            -0.6939948314443547
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9886720180511475,
+                    "position": [
+                        -0.08691264822846279,
+                        0.10127563634887338,
+                        -0.0033426980953663588
+                    ],
+                    "orientation": {
+                        "w": 0.676325787988309,
+                        "xyz": [
+                            0.20374941922437023,
+                            0.6826962736961741,
+                            -0.18707057638517996
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.988307774066925,
+                    "position": [
+                        -0.08379343285923824,
+                        0.09606399992480874,
+                        -0.00427082076203078
+                    ],
+                    "orientation": {
+                        "w": 0.6732196594199943,
+                        "xyz": [
+                            0.19357918813992828,
+                            0.6876916573006056,
+                            -0.19074216253534265
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9882147312164307,
+                    "position": [
+                        0.09046909079188481,
+                        0.08553571859374642,
+                        -0.0023265816853381693
+                    ],
+                    "orientation": {
+                        "w": 0.16519969798837889,
+                        "xyz": [
+                            0.6859384208981184,
+                            0.16561721174285426,
+                            -0.6890344561013375
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "button pad",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "input commands",
+                "press to control the device",
+                "provide numeric and media controls",
+                "select functions"
+            ],
+            "semantic_description": "This cluster of small dark gray to black buttons has a matte slightly rubbery appearance, raised rounded-rectangle shapes on the front face, and includes printed icons and numbers.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "directional pad",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "navigate menus",
+                "confirm selections",
+                "directional input",
+                "central control interface"
+            ],
+            "semantic_description": "The front circular navigation pad is a large dark gray control with a matte smooth surface, raised ring and center button geometry, and directional arrow markings.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn the device on or off",
+                "primary control input",
+                "indicate the power control location"
+            ],
+            "semantic_description": "A small round light-colored button sits near one corner of the remote face, appearing plastic with a smooth slightly glossy finish and a compact raised profile.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "charging connector",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect charging cable",
+                "provide electrical power interface",
+                "support battery charging"
+            ],
+            "semantic_description": "A small narrow connector opening is located on one end edge of the remote, showing a bright yellow-gold interior insert within the white plastic housing.",
+            "id": 16,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Charging connector mask/color and description are wrong; it shares button-pad mask instead of end-edge port."
+    }
+}

dataset/desktop_supplies/electronic_accessories/1b18935122465a15bbb2db0eb78f33b9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:340b50e1453e7e07b8ff4a4128e31c3a7d22b2b8be9537d92408d2336f4a4e26
+size 3839820

dataset/desktop_supplies/electronic_accessories/1b18935122465a15bbb2db0eb78f33b9/tv_remote_009.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>NO: {"summary":"Buttons and ports are mislabeled/merged inconsistently; navigation pad merged, many nonfunctional surfaces split oddly.","merge_groups":[]}</PartSegChecker>