Add asset desktop_supplies/electronic_accessories/840db9948e3b5f4dade1eb929e382a47

.gitattributes

@@ -6243,4 +6243,4 @@ dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509
 dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/80a4e65f8bad59d68b8df9394af1ca62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/8264b7edcc425a218ba33530f7fb4dbc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/840db9948e3b5f4dade1eb929e382a47/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/840db9948e3b5f4dade1eb929e382a47/affordance/affordance_annot.json

@@ -0,0 +1,275 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body along the side edges to pick up the remote",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body to stabilize the remote while pressing front buttons",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "reposition or place the remote by gripping the main housing near either end",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support front controls",
+                "provide structural enclosure",
+                "cover battery compartment"
+            ],
+            "semantic_description": "Long dark gray plastic housing with a matte smooth finish and mostly straight rectangular form with slightly rounded ends, making up nearly the entire remote body.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.988211452960968,
+                    "position": [
+                        -0.0017070637804863509,
+                        0.006411301554180682,
+                        -0.09891341044567525
+                    ],
+                    "orientation": {
+                        "w": 0.9998877893986435,
+                        "xyz": [
+                            -0.01073435902731766,
+                            0.008996227802196777,
+                            -0.005315076019837844
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9882075190544128,
+                    "position": [
+                        -0.0031295903281716164,
+                        0.006599031970836222,
+                        -0.09944340004585683
+                    ],
+                    "orientation": {
+                        "w": 0.999903262563172,
+                        "xyz": [
+                            0.004991924907173031,
+                            0.01189754036819024,
+                            -0.005195645718592291
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9877525568008423,
+                    "position": [
+                        0.0975205313625338,
+                        0.00244238693267107,
+                        0.009790246607735753
+                    ],
+                    "orientation": {
+                        "w": 0.030526621506344765,
+                        "xyz": [
+                            -0.7403760359569294,
+                            0.006430917224870658,
+                            0.671468609887133
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9872411489486694,
+                    "position": [
+                        0.0023428853346558753,
+                        -0.017926730564795434,
+                        -0.10164108290337026
+                    ],
+                    "orientation": {
+                        "w": 0.00039414963489218987,
+                        "xyz": [
+                            -0.02220984802840162,
+                            -0.002879223354980698,
+                            0.9997491072111507
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9867225289344788,
+                    "position": [
+                        -0.0013771034100500401,
+                        0.021001852699555457,
+                        -0.09972409321926534
+                    ],
+                    "orientation": {
+                        "w": 0.9998659032425307,
+                        "xyz": [
+                            -0.0013760805684808297,
+                            0.016303538575336396,
+                            -0.0006903370118393574
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9866653680801392,
+                    "position": [
+                        0.09558458740139031,
+                        0.005100161652080715,
+                        -0.00042598426807671785
+                    ],
+                    "orientation": {
+                        "w": 0.027555154574309997,
+                        "xyz": [
+                            -0.714377971395531,
+                            0.01644287591169591,
+                            0.699023933261905
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9866539835929871,
+                    "position": [
+                        0.008174907623470062,
+                        -0.01070042175706476,
+                        -0.10183625831268728
+                    ],
+                    "orientation": {
+                        "w": 0.0009689765132914594,
+                        "xyz": [
+                            -0.035107779731706486,
+                            -2.703658274039178e-06,
+                            0.9993830621335932
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.986559271812439,
+                    "position": [
+                        -0.0004716922376246657,
+                        -0.010434544994495809,
+                        0.09042794839479029
+                    ],
+                    "orientation": {
+                        "w": 0.17129574950290613,
+                        "xyz": [
+                            -0.9851322608323673,
+                            0.005707700961725237,
+                            -0.011815964593635715
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9865269064903259,
+                    "position": [
+                        -0.011366985530912643,
+                        0.01381808950100094,
+                        0.08915679738856852
+                    ],
+                    "orientation": {
+                        "w": 0.15488000509384664,
+                        "xyz": [
+                            0.987174775086628,
+                            0.0025987064461886755,
+                            0.03861857298764634
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9865266680717468,
+                    "position": [
+                        0.09311062956476235,
+                        -0.01986782473977655,
+                        0.021265343064442277
+                    ],
+                    "orientation": {
+                        "w": 0.07173172893682685,
+                        "xyz": [
+                            -0.7831631442830884,
+                            0.02836005797156549,
+                            0.6170135781424989
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9863533973693848,
+                    "position": [
+                        -0.0043752237943408545,
+                        -0.01894043234642595,
+                        -0.10238690837286413
+                    ],
+                    "orientation": {
+                        "w": 0.00018827517764673067,
+                        "xyz": [
+                            -0.003615421485416793,
+                            0.015052644476550192,
+                            0.9998801484048989
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9863130450248718,
+                    "position": [
+                        0.0034524702678027097,
+                        0.03264280559960753,
+                        -0.09772518440149724
+                    ],
+                    "orientation": {
+                        "w": 0.9941479787709899,
+                        "xyz": [
+                            0.10796600862606155,
+                            -0.0019095964788893305,
+                            0.003080702549659163
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9859878420829773,
+                    "position": [
+                        0.0027975365264865104,
+                        0.023834515013732016,
+                        -0.10090415342710912
+                    ],
+                    "orientation": {
+                        "w": 0.9999953240038759,
+                        "xyz": [
+                            -9.913637536459575e-05,
+                            -0.002706199689641142,
+                            -0.0014207834463647998
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "numeric keypad",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enter channel numbers",
+                "enter numeric input",
+                "direct selection of options"
+            ],
+            "semantic_description": "Cluster of small light-colored rectangular buttons arranged in a compact grid on the front face near one end, with printed numbers/icons and a hard smooth surface.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "navigation buttons",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "directional input",
+                "menu navigation",
+                "confirm selections",
+                "control interface movement"
+            ],
+            "semantic_description": "Small dark buttons on the front center area, including a circular directional pad and nearby buttons, slightly raised with a matte finish for navigation and confirmation use.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue/orange parts are misidentified and descriptions/functions mismatch actual button groups on the remote."
+    }
+}

dataset/desktop_supplies/electronic_accessories/840db9948e3b5f4dade1eb929e382a47/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e077cad8a812d97cd51d59b37bd51a15408b461883d5fff9231f652a46c84af6
+size 3780600

dataset/desktop_supplies/electronic_accessories/840db9948e3b5f4dade1eb929e382a47/tv_remote_001.urdf

@@ -52,6 +52,7 @@
                <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 are segmented, but most distinct controls are missing and body dominates; merging cannot fix missing functional parts.","merge_groups":[]}</PartSegChecker>