Add asset desktop_supplies/electronic_accessories/79564ac8965954cfa126ae5a2c31fda0

.gitattributes

@@ -6236,3 +6236,4 @@ dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b
 dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/79298122afa05ebaa9a803e9e7881441/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/79564ac8965954cfa126ae5a2c31fda0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/79564ac8965954cfa126ae5a2c31fda0/79564ac8965954cfa126ae5a2c31fda0.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>
    </custom_data>
 </robot>

dataset/desktop_supplies/electronic_accessories/79564ac8965954cfa126ae5a2c31fda0/affordance/affordance_annot.json

@@ -0,0 +1,466 @@
+{
+    "affordances": [
+        {
+            "part_name": "front housing",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body from the sides to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the front housing to stabilize the remote while pressing buttons",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support internal electronics",
+                "mount the buttons",
+                "provide front face enclosure"
+            ],
+            "semantic_description": "Large dark gray to black plastic front shell with a matte smooth hard surface, rounded rectangular shape, covering most of the remote face and surrounding the buttons.",
+            "id": 13,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.6271346211433411,
+                    "position": [
+                        -0.0017214546969626099,
+                        0.15278558031423017,
+                        0.005631420208374038
+                    ],
+                    "orientation": {
+                        "w": 0.6980912355934827,
+                        "xyz": [
+                            0.7149372849660129,
+                            -0.019045064811226586,
+                            0.034213898627994205
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.4451584219932556,
+                    "position": [
+                        0.009926776256179437,
+                        0.14202165202004835,
+                        0.0026944232231471688
+                    ],
+                    "orientation": {
+                        "w": 0.020928718692472367,
+                        "xyz": [
+                            0.00046914241430140463,
+                            -0.701346494517489,
+                            0.7125130618222489
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.5634605288505554,
+                    "position": [
+                        0.001017833681544289,
+                        0.13686714664800093,
+                        0.04534370815963484
+                    ],
+                    "orientation": {
+                        "w": 0.5351004736867824,
+                        "xyz": [
+                            0.8444853807345633,
+                            -0.008395794722263483,
+                            0.021010364508085615
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.7709982991218567,
+                    "position": [
+                        0.01724408645532094,
+                        -0.048644025169778615,
+                        0.08633024236769415
+                    ],
+                    "orientation": {
+                        "w": 0.0526222754091335,
+                        "xyz": [
+                            0.0226197654624341,
+                            -0.9667753043159606,
+                            -0.2491279857943947
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.5099079012870789,
+                    "position": [
+                        0.000668875640258193,
+                        0.12690627173287794,
+                        0.05343054226250388
+                    ],
+                    "orientation": {
+                        "w": 0.04111377866217254,
+                        "xyz": [
+                            0.016845707394121397,
+                            0.8680103859610502,
+                            -0.49455419238973064
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.8111596703529358,
+                    "position": [
+                        -0.0026220657455269247,
+                        -0.01713676966028288,
+                        0.09752567848772742
+                    ],
+                    "orientation": {
+                        "w": 0.05813854758991553,
+                        "xyz": [
+                            -0.997846794791119,
+                            0.003947882464154659,
+                            -0.030101455667040356
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.7843152284622192,
+                    "position": [
+                        -0.003956497326726094,
+                        -0.05534543871181086,
+                        0.08787550023407675
+                    ],
+                    "orientation": {
+                        "w": 0.25791864398634395,
+                        "xyz": [
+                            -0.9656808907548704,
+                            -0.0072656194663197615,
+                            -0.029759050537550114
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.7760235071182251,
+                    "position": [
+                        -0.012905589450383559,
+                        -0.051444568031001836,
+                        0.0875576137623284
+                    ],
+                    "orientation": {
+                        "w": 0.08081727631117501,
+                        "xyz": [
+                            -0.018485539811435206,
+                            0.9654816121959706,
+                            0.24692531093225817
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.7394202351570129,
+                    "position": [
+                        0.0060477790830191225,
+                        0.00937232346041128,
+                        0.09606461963267066
+                    ],
+                    "orientation": {
+                        "w": 0.03678643357446441,
+                        "xyz": [
+                            -0.021575122258833703,
+                            -0.9923562235497454,
+                            0.11580327277964114
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.724640429019928,
+                    "position": [
+                        -0.020133416313910857,
+                        -0.049826436035800725,
+                        0.08605261883349158
+                    ],
+                    "orientation": {
+                        "w": 0.25293014864401864,
+                        "xyz": [
+                            -0.961385936474621,
+                            0.007884955607077804,
+                            -0.10817230944564805
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.7187666296958923,
+                    "position": [
+                        -0.0028262903506401926,
+                        -0.06475290312664583,
+                        0.0835786982497666
+                    ],
+                    "orientation": {
+                        "w": 0.02406825548750424,
+                        "xyz": [
+                            -0.004263681464612133,
+                            0.9642144387160804,
+                            0.2639944246941413
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.5875030159950256,
+                    "position": [
+                        -0.00028403711621649563,
+                        -0.06624816759722307,
+                        0.08594278237433173
+                    ],
+                    "orientation": {
+                        "w": 0.029640940821961986,
+                        "xyz": [
+                            -0.014348311350902039,
+                            0.9654598131483076,
+                            0.258462550061321
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.5808840990066528,
+                    "position": [
+                        0.020611838292097673,
+                        -0.08232102199690416,
+                        0.08757234356016852
+                    ],
+                    "orientation": {
+                        "w": 0.079979224255621,
+                        "xyz": [
+                            -0.0058355790275989305,
+                            -0.9670143127723142,
+                            -0.24176970157232344
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "back housing",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body around the back to lift or carry it",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the back housing to orient the remote toward a device",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main support shell",
+                "enclose internal components",
+                "provide rear grip surface",
+                "protect internal components"
+            ],
+            "semantic_description": "Large dark gray to black plastic back shell with a matte slightly smooth hard finish, rounded rectangular form, spanning the full rear side of the remote.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.48795387148857117,
+                    "position": [
+                        0.024791038449620828,
+                        -0.14038412674563006,
+                        0.03925345456809737
+                    ],
+                    "orientation": {
+                        "w": 0.5293984188479146,
+                        "xyz": [
+                            -0.842412309243118,
+                            -0.08659104499886994,
+                            0.05080163661742473
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.5706700086593628,
+                    "position": [
+                        -0.0003980534092988819,
+                        0.11346328601939604,
+                        -0.06824366757064126
+                    ],
+                    "orientation": {
+                        "w": 0.06618184731712165,
+                        "xyz": [
+                            0.0018439968048960024,
+                            0.43872814857148523,
+                            -0.8961775350969884
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "elongated end button",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "control input",
+                "large end button",
+                "user press surface"
+            ],
+            "semantic_description": "Long pill-shaped button at one end of the front face, appearing dark gray to black in the RGB image with a smooth matte surface.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small red button",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "control input",
+                "small button",
+                "user press surface"
+            ],
+            "semantic_description": "Small red rounded button on the front near one end, slightly raised for pressing.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "large round lower-left button",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "control input",
+                "large front button",
+                "user press surface"
+            ],
+            "semantic_description": "Large circular button in the lower front area, light gray to white in the RGB image, with a raised round profile.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "large round lower-right button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "control input",
+                "large front button",
+                "user press surface"
+            ],
+            "semantic_description": "Large circular button near the lower end of the front face, light gray to white in the RGB image, with a gently domed round shape.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small central button",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "control input",
+                "central button",
+                "user press surface"
+            ],
+            "semantic_description": "Small round button in the central control cluster, dark gray with a matte finish and slightly raised shape.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small central button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "control input",
+                "central button",
+                "user press surface"
+            ],
+            "semantic_description": "Small round button near the middle of the control cluster, dark gray and slightly domed.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small upper-middle button",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "control input",
+                "front button",
+                "user press surface"
+            ],
+            "semantic_description": "Small circular button in the upper-middle control area, dark gray with a matte raised surface.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small upper button",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "control input",
+                "upper button",
+                "user press surface"
+            ],
+            "semantic_description": "Small round button among the upper controls, dark gray-black with a matte surface and compact slightly raised shape.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small mid-lower button",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "control input",
+                "front button",
+                "user press surface"
+            ],
+            "semantic_description": "Small circular button in the mid-lower control cluster, dark gray and slightly domed, similar to adjacent buttons.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small lower button",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "control input",
+                "front button",
+                "user press surface"
+            ],
+            "semantic_description": "Small round button on the lower front area, light bluish to pale in the RGB image, with a matte finish.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "medium round lower-middle button",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "control input",
+                "medium front button",
+                "user press surface"
+            ],
+            "semantic_description": "Medium circular button in the lower half of the front face, light gray to white in the RGB image with a raised round shape.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small utility button",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "control input",
+                "small button",
+                "user press surface"
+            ],
+            "semantic_description": "Small front button near the end control area, dark gray and slightly raised with a compact rounded shape.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several button parts are misnamed or visually mismatched; front housing description wrongly says it surrounds buttons though buttons are separate parts."
+    }
+}

dataset/desktop_supplies/electronic_accessories/79564ac8965954cfa126ae5a2c31fda0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 976576