Add asset desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0

.gitattributes

@@ -6250,3 +6250,4 @@ dataset/desktop_supplies/electronic_accessories/8615eea2f9465160bef23bf1c29e5db1
 dataset/desktop_supplies/electronic_accessories/87dc299f6dd75a2cb3816ef735f06322/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/8b8ea2bb556c50b2a793cdd67972eb44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/8c10c929b390582cac3936e53e3a8b14/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/affordance/affordance_annot.json

@@ -0,0 +1,276 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote front housing",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body along the front shell to pick up and hold the remote",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "pinch the side edges of the housing to reposition the remote on a surface",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the housing while pressing buttons with another manipulator",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "main structural shell",
+                "support controls",
+                "provide grasp surface",
+                "protect internal electronics",
+                "define object shape"
+            ],
+            "semantic_description": "Large elongated dark gray plastic front shell with a matte smooth hard surface, rounded rectangular shape, and printed brand text near one end.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "remote back cover",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote from the back side to lift it from a table",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the back cover securely while orienting the remote for use",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "rear enclosure",
+                "cover battery compartment",
+                "provide palm contact surface",
+                "protect internal components"
+            ],
+            "semantic_description": "Large elongated light blue plastic back panel with a matte smooth hard surface, gently curved rectangular form, covering most of the rear side of the remote.",
+            "id": 14,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.6619985103607178,
+                    "position": [
+                        0.007345285208430141,
+                        0.18417124589905143,
+                        0.001064290088834241
+                    ],
+                    "orientation": {
+                        "w": 0.6922141938091805,
+                        "xyz": [
+                            0.7189556317276038,
+                            -0.04797563176566666,
+                            0.040504916404730695
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.6596463918685913,
+                    "position": [
+                        0.006277231907006353,
+                        0.18621634086593986,
+                        0.0010392183903604746
+                    ],
+                    "orientation": {
+                        "w": 0.6958979130938675,
+                        "xyz": [
+                            0.7166623168236302,
+                            -0.03498010037675203,
+                            0.02996015310740199
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.5151606798171997,
+                    "position": [
+                        0.0031121901120059192,
+                        -0.18604090670123696,
+                        -0.010763931320980191
+                    ],
+                    "orientation": {
+                        "w": 0.11055386574002563,
+                        "xyz": [
+                            -0.0552542268952447,
+                            -0.6789196519610169,
+                            -0.7237353931937257
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.4905077815055847,
+                    "position": [
+                        -0.0006316895014606416,
+                        -0.18269677320495248,
+                        -0.010750651592388749
+                    ],
+                    "orientation": {
+                        "w": 0.7233243589135702,
+                        "xyz": [
+                            -0.6904196098102174,
+                            0.004469118371703162,
+                            -0.010132184994338074
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.468438059091568,
+                    "position": [
+                        0.0014090663753449917,
+                        -0.15386336902156472,
+                        0.04638209450058639
+                    ],
+                    "orientation": {
+                        "w": 0.49430338413397756,
+                        "xyz": [
+                            -0.8690926352065266,
+                            -0.013375780099694479,
+                            -0.01277671202608039
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.46772950887680054,
+                    "position": [
+                        -0.0006275816704146564,
+                        -0.18467873195186257,
+                        -0.008257087552919984
+                    ],
+                    "orientation": {
+                        "w": 0.7117137839924927,
+                        "xyz": [
+                            -0.7023276336760452,
+                            -0.0026304200264993804,
+                            -0.013873195038600824
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.4421755075454712,
+                    "position": [
+                        0.0031362377922050655,
+                        -0.18419749895110726,
+                        -0.00829989486373961
+                    ],
+                    "orientation": {
+                        "w": 0.7138814822294535,
+                        "xyz": [
+                            -0.7002261445059526,
+                            -0.00024609871794545324,
+                            -0.007517666900663913
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.27613702416419983,
+                    "position": [
+                        0.014616169908549637,
+                        -0.17883998015895486,
+                        -0.010889779077842832
+                    ],
+                    "orientation": {
+                        "w": 0.7368114555313178,
+                        "xyz": [
+                            -0.6757238796879182,
+                            -0.02249258378185892,
+                            0.00044843298776473754
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.19850367307662964,
+                    "position": [
+                        0.011243626417126507,
+                        0.16720953723415732,
+                        -0.007559041725471616
+                    ],
+                    "orientation": {
+                        "w": 0.7161213857678005,
+                        "xyz": [
+                            0.6967620940676634,
+                            -0.03848407632546602,
+                            0.014550635237869872
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "number buttons",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "input commands",
+                "select channels or numbers",
+                "provide tactile press targets"
+            ],
+            "semantic_description": "Cluster of small light blue buttons with a matte surface, arranged in a keypad near one end of the remote with printed numerals or symbols.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "direction ring",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "navigate menus",
+                "provide directional input",
+                "surround central select button"
+            ],
+            "semantic_description": "Medium circular light blue ring around the central control, likely plastic with a matte smooth surface, slightly raised on the front face for thumb navigation.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "select button",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "confirm selection",
+                "central press input",
+                "menu control"
+            ],
+            "semantic_description": "Small dark blue central circular button with a matte smooth surface, set inside the directional ring as the center press point.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "large circular button pad",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "primary input control",
+                "press target",
+                "navigation or shortcut control"
+            ],
+            "semantic_description": "Large dark circular button pad on the front face with a matte surface and slightly recessed appearance, positioned centrally below the numeric buttons.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn device on or off",
+                "primary control input",
+                "indicate power control location"
+            ],
+            "semantic_description": "Small red-orange circular button with a matte finish, located near one end of the remote and visually distinct as the power control.",
+            "id": 16,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions use wrong visible colors/materials and one control part is misidentified as a button pad."
+    }
+}

dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b42cdf20685e96dcc4a2222f8da2ddd5740d2e64cc4215e9d3a4fece1bdccd5b
+size 3824544

dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/tv_remote_031.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>