Add asset desktop_supplies/electronic_accessories/af5bc80c973f5620aebc05e227171e3d

.gitattributes

@@ -6270,4 +6270,4 @@ dataset/desktop_supplies/electronic_accessories/a85ad31236be54a79f066616dd30793e
 dataset/desktop_supplies/electronic_accessories/ab137e9445175a489552ca6e2b3362a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/abcacb58055e5eef9fc366550e85311d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/ae53d33d280f52ca9d885db64a2b2df5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/af5bc80c973f5620aebc05e227171e3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/af5bc80c973f5620aebc05e227171e3d/ac_remote_003.urdf

@@ -54,6 +54,7 @@
                <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>

dataset/desktop_supplies/electronic_accessories/af5bc80c973f5620aebc05e227171e3d/affordance/affordance_annot.json

@@ -0,0 +1,227 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body from the sides to pick up and hold the device",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the body while aiming the remote at the air conditioner",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "stabilize the body on a surface while pressing buttons",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support buttons and display",
+                "provide overall structure"
+            ],
+            "semantic_description": "Elongated white plastic housing with a smooth slightly glossy hard surface, rounded corners, and a slim hand-sized form making up nearly the entire remote body.",
+            "id": 14,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9915614724159241,
+                    "position": [
+                        0.09969373048807029,
+                        -2.685398794710636e-05,
+                        -0.01976184023078531
+                    ],
+                    "orientation": {
+                        "w": 0.061274827261668684,
+                        "xyz": [
+                            -0.6296996481649715,
+                            0.05932246034574262,
+                            0.7721428587661041
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9913843870162964,
+                    "position": [
+                        0.1007657051231945,
+                        0.0069056900683790445,
+                        -0.0055522400652989745
+                    ],
+                    "orientation": {
+                        "w": 0.7149722286922955,
+                        "xyz": [
+                            -0.005284126914490671,
+                            -0.6985484476534538,
+                            -0.028580701224317554
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9905433058738708,
+                    "position": [
+                        0.10461156071687583,
+                        -0.023172038607299328,
+                        -0.00022698251996189356
+                    ],
+                    "orientation": {
+                        "w": 0.023893782069706167,
+                        "xyz": [
+                            -0.7134702258505874,
+                            6.392073605698823e-05,
+                            0.7002780304402362
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9901756644248962,
+                    "position": [
+                        0.09671488405729178,
+                        0.011252331081777811,
+                        -0.015900939120911062
+                    ],
+                    "orientation": {
+                        "w": 0.7562616085877971,
+                        "xyz": [
+                            0.0061168595244432316,
+                            -0.6539498607205823,
+                            -0.01950751314971651
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9887469410896301,
+                    "position": [
+                        0.1039642095711315,
+                        0.014704140834510326,
+                        -0.009032653993926942
+                    ],
+                    "orientation": {
+                        "w": 0.7304042661404615,
+                        "xyz": [
+                            0.004182080507532762,
+                            -0.6825122929166023,
+                            -0.02586673972816144
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9880521297454834,
+                    "position": [
+                        0.0969044938829029,
+                        0.03563516493886709,
+                        -0.003792047849856317
+                    ],
+                    "orientation": {
+                        "w": 0.7145423228798838,
+                        "xyz": [
+                            0.09613444465535737,
+                            -0.6887580213768862,
+                            0.07615658443773829
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9880268573760986,
+                    "position": [
+                        0.09548902513051871,
+                        -0.02046299632638693,
+                        -0.006073986063711345
+                    ],
+                    "orientation": {
+                        "w": 0.7180059685376451,
+                        "xyz": [
+                            0.004947858659995971,
+                            -0.6959546069999786,
+                            -0.009493831392230938
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9877910614013672,
+                    "position": [
+                        0.10507721455360297,
+                        -0.016366596333682537,
+                        -0.007762034307233989
+                    ],
+                    "orientation": {
+                        "w": 0.055924502663419515,
+                        "xyz": [
+                            0.6892850387847776,
+                            0.03970683030030475,
+                            -0.7212364057206342
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9876444935798645,
+                    "position": [
+                        -0.10107859222625848,
+                        0.018498494289815426,
+                        -0.006662122788839042
+                    ],
+                    "orientation": {
+                        "w": 0.7107832626730759,
+                        "xyz": [
+                            0.01242078725772709,
+                            0.703182410894937,
+                            -0.012937331861688973
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9873588681221008,
+                    "position": [
+                        -0.099597953245393,
+                        -0.019592498429119587,
+                        -0.0015822182795091067
+                    ],
+                    "orientation": {
+                        "w": 0.03266833204663603,
+                        "xyz": [
+                            -0.7041055154777276,
+                            0.0251615838727125,
+                            -0.7088970996217653
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "button pad",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press to send commands",
+                "input control settings",
+                "select operating modes",
+                "adjust temperature or fan settings"
+            ],
+            "semantic_description": "Cluster of small raised buttons in mixed colors set into the front face, likely plastic with smooth slightly glossy tops, arranged near the upper-middle area with printed icons and labels.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "display screen",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display settings",
+                "indicate temperature",
+                "show operating mode",
+                "provide status feedback"
+            ],
+            "semantic_description": "Rectangular gray-green LCD window on the front upper area, appearing as smooth glossy hard plastic or glass with dark digital numerals visible beneath the surface.",
+            "id": 15,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/af5bc80c973f5620aebc05e227171e3d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c97f9bfd0dfd8d2f85663c6cb9b0b70625603a3636ff680f8e288a1f641a320
+size 3809756