Add asset desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d

.gitattributes

@@ -8140,3 +8140,4 @@ dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116
 dataset/desktop_supplies/electronic_accessories/ddaf6351a416534ead5ecd29c73d37a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e0518564249e50ff919e69246107796e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e0b92f733d435d778bbab8c864a5ffc3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/affordance/affordance_annot.json

@@ -0,0 +1,368 @@
+{
+    "affordances": [
+        {
+            "part_name": "front housing",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote along the side edges and front housing to pick it up from a table",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the front housing while aiming the remote toward a device",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "stabilize the front housing while pressing the buttons with another finger",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support the button array",
+                "provide overall structure",
+                "enable pointing and handling"
+            ],
+            "semantic_description": "Long slim off-white plastic front housing with a mostly matte smooth surface, rounded rectangular shape, and rounded ends; the front face surrounds the keypad and includes small printed logos/markings near the ends.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear housing",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear housing to lift the remote from a table",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the rear housing in the palm to stabilize the remote during use",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "form rear exterior surface",
+                "provide hand contact surface",
+                "protect internal components",
+                "support the housing structure"
+            ],
+            "semantic_description": "Large plain light gray to off-white plastic back surface with a matte smooth finish, elongated flat shape, and a small group of narrow slits near one end.",
+            "id": 15,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.702213704586029,
+                    "position": [
+                        0.007966854827827774,
+                        0.17402228771243244,
+                        -0.014298226771643385
+                    ],
+                    "orientation": {
+                        "w": 0.749850240970785,
+                        "xyz": [
+                            0.6615168085007646,
+                            -0.007438979742193208,
+                            -0.008049209117259176
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.6616434454917908,
+                    "position": [
+                        0.003959561217925511,
+                        0.17986707447562367,
+                        -0.01002901149331592
+                    ],
+                    "orientation": {
+                        "w": 0.7228929038786268,
+                        "xyz": [
+                            0.690696844139159,
+                            0.0184969182161705,
+                            -0.004645754474426048
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.5463376641273499,
+                    "position": [
+                        0.0007525157852796838,
+                        -0.18280991853680462,
+                        -0.014557557267835364
+                    ],
+                    "orientation": {
+                        "w": 0.7342492674933483,
+                        "xyz": [
+                            -0.6743214649484531,
+                            -0.050485458528596094,
+                            -0.06016472033020174
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.6048938632011414,
+                    "position": [
+                        -0.0035946360003435984,
+                        -0.16615359426941723,
+                        -0.05681854029535316
+                    ],
+                    "orientation": {
+                        "w": 0.8720023685537337,
+                        "xyz": [
+                            -0.4870709439591571,
+                            0.04728567328495792,
+                            0.011740097503947835
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.279907763004303,
+                    "position": [
+                        0.009063509976840578,
+                        0.13565920351538807,
+                        -0.05816779946326278
+                    ],
+                    "orientation": {
+                        "w": 0.8756850460115974,
+                        "xyz": [
+                            0.47547352850087843,
+                            0.004469598516331219,
+                            -0.08414657792027862
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.5849725604057312,
+                    "position": [
+                        0.010087801827467047,
+                        -0.16720870079007,
+                        -0.05677602728246711
+                    ],
+                    "orientation": {
+                        "w": 0.8743153518376953,
+                        "xyz": [
+                            -0.478509150881541,
+                            0.015165492841003658,
+                            0.07982271537878759
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "individual keypad button",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept finger press input",
+                "provide tactile control",
+                "trigger assigned remote command"
+            ],
+            "semantic_description": "Small raised light gray to beige button on the front keypad, with a smooth slightly glossy surface and rounded rectangular to rounded-square shape.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:005d42e9d5b7c38c8bc86de49f383cc9d66348c20e63d4193f79c276691e9565
+size 3829044

dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/tv_remote_040.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>