Add asset desktop_supplies/electronic_accessories/6f60ea188ade50d79ab947ba557dc100

.gitattributes

@@ -6233,3 +6233,4 @@ dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931
 dataset/desktop_supplies/electronic_accessories/6b85303069285d3a87cc26607d1f5828/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/6cb519090f66525684cb5c142a3133fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/6f60ea188ade50d79ab947ba557dc100/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/6f60ea188ade50d79ab947ba557dc100/affordance/affordance_annot.json

@@ -0,0 +1,212 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body from the sides to pick up and hold the remote",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "stabilize the remote body while another tool or finger presses buttons",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp one end of the body to reposition or place the remote on a surface",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support internal electronics",
+                "house the buttons and controls",
+                "provide structural enclosure",
+                "enable handheld pointing and manipulation"
+            ],
+            "semantic_description": "Long slim rectangular remote body with rounded corners, dark gray to black plastic with a mostly matte smooth finish and lighter silver-colored side edging, forming nearly the entire object.",
+            "id": 22,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9920186400413513,
+                    "position": [
+                        0.09920782715198584,
+                        -0.010003230214351788,
+                        -0.0007185788126662374
+                    ],
+                    "orientation": {
+                        "w": 0.002918759601072886,
+                        "xyz": [
+                            -0.7144035743758125,
+                            0.008048610630679964,
+                            0.6996815230005506
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9918396472930908,
+                    "position": [
+                        0.09966343760606833,
+                        0.022712875477736816,
+                        -0.006192521890625358
+                    ],
+                    "orientation": {
+                        "w": 0.020939443738936768,
+                        "xyz": [
+                            -0.6944663751080288,
+                            0.02425170814127775,
+                            0.7188114135101424
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9917578101158142,
+                    "position": [
+                        0.09759299576398917,
+                        0.005203796870773658,
+                        -0.002504401432815939
+                    ],
+                    "orientation": {
+                        "w": 0.05970698829105127,
+                        "xyz": [
+                            -0.7066990610325482,
+                            0.054526779162695105,
+                            0.7028786118805078
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9917150139808655,
+                    "position": [
+                        0.09792199105140753,
+                        0.010109382070368156,
+                        -0.0010223081335425377
+                    ],
+                    "orientation": {
+                        "w": 0.054953484856097454,
+                        "xyz": [
+                            -0.7131445130977334,
+                            0.04689991378445546,
+                            0.6972843150593436
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9915354251861572,
+                    "position": [
+                        0.09901484221336432,
+                        0.006493158492958173,
+                        0.0014444456901401281
+                    ],
+                    "orientation": {
+                        "w": 0.0362964535502008,
+                        "xyz": [
+                            -0.7204853593784823,
+                            0.02131783760100947,
+                            0.6921914216320181
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9907764792442322,
+                    "position": [
+                        0.10016393035766669,
+                        0.008710136025911197,
+                        -0.002018466155277565
+                    ],
+                    "orientation": {
+                        "w": 0.028678971247027903,
+                        "xyz": [
+                            -0.7066620559559329,
+                            0.02160608412430154,
+                            0.7066395349887804
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9907763600349426,
+                    "position": [
+                        0.09760960310813971,
+                        0.03064413959509693,
+                        -0.004970537265762687
+                    ],
+                    "orientation": {
+                        "w": 0.7140079472892271,
+                        "xyz": [
+                            0.007385525853292706,
+                            -0.7000762329793834,
+                            -0.00560118140130911
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9907212257385254,
+                    "position": [
+                        0.09547544390079565,
+                        0.02433535674936138,
+                        -0.002870624070055783
+                    ],
+                    "orientation": {
+                        "w": 0.7070055410258174,
+                        "xyz": [
+                            0.001215051760678139,
+                            -0.707206286729595,
+                            -0.0009780685799608076
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9905271530151367,
+                    "position": [
+                        0.0998674494039733,
+                        0.03881691428250633,
+                        -0.003140210290439427
+                    ],
+                    "orientation": {
+                        "w": 0.7098042662150574,
+                        "xyz": [
+                            -0.000871835631606761,
+                            -0.7043250817297211,
+                            -0.010164782927195389
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.990432858467102,
+                    "position": [
+                        0.09799073010799475,
+                        0.03583431275910698,
+                        -0.003680444206111133
+                    ],
+                    "orientation": {
+                        "w": 0.7098118785290177,
+                        "xyz": [
+                            0.024919927942035344,
+                            -0.7036677041775319,
+                            0.019946337708756107
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "red indicator dots",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "visual status markers",
+                "decorative accent markings",
+                "small front-face indicators near the ends of the remote"
+            ],
+            "semantic_description": "Two tiny circular red dots on the front face of the remote near opposite ends, appearing as small glossy accent or indicator marks set into the dark plastic surface.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green part identity and description are wrong; masked parts are side buttons, not red indicator dots."
+    }
+}

dataset/desktop_supplies/electronic_accessories/6f60ea188ade50d79ab947ba557dc100/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65b56c64526a9df8ee484b09fb8290ca8545b15cc832f3a40aac828dff608adf
+size 3826776

dataset/desktop_supplies/electronic_accessories/6f60ea188ade50d79ab947ba557dc100/tv_remote_003.urdf

@@ -47,16 +47,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>2</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Buttons and front controls are mostly missed; only body plus tiny fragments are segmented, which is not actionable.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>