Add asset desktop_supplies/electronic_accessories/87dc299f6dd75a2cb3816ef735f06322

.gitattributes

@@ -6247,3 +6247,4 @@ dataset/desktop_supplies/electronic_accessories/8264b7edcc425a218ba33530f7fb4dbc
 dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/8615eea2f9465160bef23bf1c29e5db1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/87dc299f6dd75a2cb3816ef735f06322/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/87dc299f6dd75a2cb3816ef735f06322/affordance/affordance_annot.json

@@ -0,0 +1,357 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote front housing",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body along the long sides to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the front body to stabilize the remote while pressing buttons with a finger",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support internal electronics",
+                "hold the control interface",
+                "provide front cover"
+            ],
+            "semantic_description": "Large elongated black plastic front shell with a smooth matte finish, covering most of the front face of the remote around the buttons and central navigation area.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_36": {
+                    "confidence": 0.4696064293384552,
+                    "position": [
+                        -0.010745498031610623,
+                        -0.15707377763465047,
+                        0.06347366844420321
+                    ],
+                    "orientation": {
+                        "w": 0.4423483093106613,
+                        "xyz": [
+                            -0.8941324854006242,
+                            -0.02109291039348654,
+                            -0.06640904255019923
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "remote back housing",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the back housing around the body to lift or reposition the remote",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the back housing firmly while another finger presses front controls",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support internal components",
+                "provide back cover",
+                "form the body shape"
+            ],
+            "semantic_description": "Large elongated light gray to white plastic back panel with a smooth matte finish, forming the rear side and most of the remote body.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.5609471797943115,
+                    "position": [
+                        -0.005820881255203858,
+                        0.17962642339989543,
+                        0.0038593248755205423
+                    ],
+                    "orientation": {
+                        "w": 0.6790813538829087,
+                        "xyz": [
+                            0.7308810702313762,
+                            -0.04008834051582044,
+                            0.0552657302555736
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.4324631989002228,
+                    "position": [
+                        0.011661402269965038,
+                        0.17628074018284678,
+                        0.0002134556125383824
+                    ],
+                    "orientation": {
+                        "w": 0.6965191971013133,
+                        "xyz": [
+                            0.7153500958403365,
+                            0.010679475153709705,
+                            -0.05496541877403004
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.18814440071582794,
+                    "position": [
+                        0.0023816720058675855,
+                        -0.18140333564952016,
+                        -0.00842962457682006
+                    ],
+                    "orientation": {
+                        "w": 0.09052723929371688,
+                        "xyz": [
+                            -0.03794848356190673,
+                            0.6918222513506079,
+                            0.7153647349970405
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.44977867603302,
+                    "position": [
+                        -0.005573344096774235,
+                        -0.14875967474654317,
+                        0.051998857903527096
+                    ],
+                    "orientation": {
+                        "w": 0.4715992396511761,
+                        "xyz": [
+                            -0.8806419956372673,
+                            -0.021227323588684566,
+                            -0.04016507704094368
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.5366335511207581,
+                    "position": [
+                        0.01402515298104845,
+                        -0.1461101290769875,
+                        0.06108038921956904
+                    ],
+                    "orientation": {
+                        "w": 0.418486882820957,
+                        "xyz": [
+                            -0.9065719579998905,
+                            -0.004209643109793215,
+                            0.05457373708965831
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.39391398429870605,
+                    "position": [
+                        0.027716678887372836,
+                        -0.16828034492209554,
+                        0.040635906654642895
+                    ],
+                    "orientation": {
+                        "w": 0.5221757998508051,
+                        "xyz": [
+                            -0.8463618154053346,
+                            -0.04923765842531713,
+                            0.09262701801715383
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.3721177279949188,
+                    "position": [
+                        0.004244054056471214,
+                        -0.18482283921912313,
+                        -0.02518853309447877
+                    ],
+                    "orientation": {
+                        "w": 0.7735127011441455,
+                        "xyz": [
+                            -0.6317840057400518,
+                            -0.04565465583147321,
+                            -0.02104099951647544
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "navigation ring",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "surround central select button",
+                "directional navigation input",
+                "guide thumb placement",
+                "highlight primary control"
+            ],
+            "semantic_description": "Rounded-rectangle pink to magenta raised ring around the central button, with a smooth plastic surface and an orange accent outline, located near the middle-right of the front face.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center select button",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for selection",
+                "confirm menu choice",
+                "central navigation input"
+            ],
+            "semantic_description": "Small dark red to maroon rectangular button inside the navigation ring, slightly recessed or flush, located at the center of the main navigation control.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "button cluster",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for commands",
+                "navigate menus",
+                "control device functions",
+                "provide discrete tactile inputs"
+            ],
+            "semantic_description": "Several small black buttons with matte plastic surfaces and slightly raised shapes, arranged in compact rows near the central control area on the front face.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "colored shortcut buttons",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "launch preset functions",
+                "provide quick access",
+                "differentiate controls by color",
+                "support command input"
+            ],
+            "semantic_description": "A set of four small brightly colored square buttons near the central control area, each with smooth plastic surfaces and distinct colors for shortcut functions.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "light-colored function button",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for device command",
+                "provide discrete input",
+                "support control set"
+            ],
+            "semantic_description": "Small light cyan square button on the front control cluster, made of smooth plastic and positioned among the other buttons near the center.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "green function button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for device command",
+                "provide discrete input",
+                "support control set"
+            ],
+            "semantic_description": "Small green square button on the front face, slightly raised and integrated within the main button cluster.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "orange function button",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for device command",
+                "provide discrete input",
+                "support control set"
+            ],
+            "semantic_description": "Small orange square button with a smooth plastic finish, located near the central button array.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "purple function button",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for device command",
+                "provide discrete input",
+                "support control set"
+            ],
+            "semantic_description": "Small purple square button integrated into the clustered control layout near the middle of the remote.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "magenta function button",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for device command",
+                "provide discrete input",
+                "support control set"
+            ],
+            "semantic_description": "Small magenta square button with a smooth finish, positioned among the grouped control buttons near the navigation control.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "red indicator window",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "emit status light",
+                "indicate device state",
+                "provide small interface feature"
+            ],
+            "semantic_description": "Tiny circular red window or indicator near one end of the remote face, appearing as a small lens-like spot set into the black housing.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "microphone hole or status window",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "sense audio or emit status light",
+                "indicate device state",
+                "provide small interface feature"
+            ],
+            "semantic_description": "Tiny circular brownish feature near one end of the remote face, appearing as a small opening or lens-like spot set into the black housing.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed branding/icons",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "identify brand",
+                "label controls",
+                "indicate orientation"
+            ],
+            "semantic_description": "Small white printed branding text and icon markings on the front face, flat and non-textured, serving as branding and control labels.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part colors/identities are taken from mask colors, not RGB appearance; extra colored buttons are misdescribed."
+    }
+}

dataset/desktop_supplies/electronic_accessories/87dc299f6dd75a2cb3816ef735f06322/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:179219017d1ddd88e3d095fa60e344985747417915904be18f09dc25108e36d8
+size 3804796

dataset/desktop_supplies/electronic_accessories/87dc299f6dd75a2cb3816ef735f06322/tv_remote_025.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>