Add asset desktop_supplies/electronic_accessories/51b1defb1a885b70b22f620371f5c705

.gitattributes

@@ -6217,4 +6217,5 @@ dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62
 dataset/desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/51fc778182005ecc8d20500aee6c36a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/51b1defb1a885b70b22f620371f5c705/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/51b1defb1a885b70b22f620371f5c705/affordance/affordance_annot.json

@@ -0,0 +1,182 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body along its sides to pick up and hold the remote",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "pinch the narrow body near one end to reorient the remote",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the body from the back or sides to stabilize it while pressing buttons",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house the electronics",
+                "support the button interface",
+                "provide structural enclosure",
+                "enable handheld pointing"
+            ],
+            "semantic_description": "Slim elongated white plastic remote body with a matte to satin hard smooth surface, rounded corners, shallow thickness, and printed button labels and branding on the front, forming nearly the entire object.",
+            "id": 19,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9925140738487244,
+                    "position": [
+                        0.10132191283628345,
+                        0.03234415454789996,
+                        -0.00546080176718533
+                    ],
+                    "orientation": {
+                        "w": 0.011873279408516808,
+                        "xyz": [
+                            -0.6929108599041439,
+                            0.030696048074216997,
+                            0.7202716974139777
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9921632409095764,
+                    "position": [
+                        0.09923072857782245,
+                        0.023653000127524137,
+                        -0.0054828396532684565
+                    ],
+                    "orientation": {
+                        "w": 0.012113945979298527,
+                        "xyz": [
+                            -0.6983828442894119,
+                            0.01915281618358422,
+                            0.7153655182822832
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9920018911361694,
+                    "position": [
+                        0.10243039531633258,
+                        0.03182179620489478,
+                        -0.0016573313623666763
+                    ],
+                    "orientation": {
+                        "w": 0.0172793180273005,
+                        "xyz": [
+                            -0.7085375938589105,
+                            0.018808343935532545,
+                            0.7052107128054279
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.991413950920105,
+                    "position": [
+                        -0.08696350501850247,
+                        0.09287765575572848,
+                        -0.0025055109508684836
+                    ],
+                    "orientation": {
+                        "w": 0.6760430448564806,
+                        "xyz": [
+                            0.2022379609450693,
+                            0.6825857672933916,
+                            -0.190111227817956
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9912047982215881,
+                    "position": [
+                        0.10291152400895953,
+                        -0.028270397800952196,
+                        -0.0039600193267688155
+                    ],
+                    "orientation": {
+                        "w": 0.0014931396654622188,
+                        "xyz": [
+                            -0.7030482416981483,
+                            0.014668408323812776,
+                            0.7109892954020672
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9911869168281555,
+                    "position": [
+                        0.09838034166023135,
+                        0.01793489372357726,
+                        -0.0001942396629601717
+                    ],
+                    "orientation": {
+                        "w": 0.06510734329143464,
+                        "xyz": [
+                            -0.7084394403403568,
+                            0.03802603471581256,
+                            0.7017325800499536
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9911802411079407,
+                    "position": [
+                        0.10326315416023135,
+                        -0.033203226048499346,
+                        -0.002225871052360162
+                    ],
+                    "orientation": {
+                        "w": 0.009569779146834764,
+                        "xyz": [
+                            -0.7083320158186093,
+                            0.009847482627834081,
+                            0.7057458478654484
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9911800026893616,
+                    "position": [
+                        0.09694893611595035,
+                        0.02614030195400119,
+                        -0.004092121496796608
+                    ],
+                    "orientation": {
+                        "w": 0.018891479985190758,
+                        "xyz": [
+                            -0.7008369790465367,
+                            0.0261505755983924,
+                            0.7125915998527952
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9911556243896484,
+                    "position": [
+                        0.10070732934400439,
+                        -0.02623372571542859,
+                        -0.008644420420750976
+                    ],
+                    "orientation": {
+                        "w": 0.015461143011295505,
+                        "xyz": [
+                            -0.6923706964938328,
+                            0.0022435927395856314,
+                            0.7213728148364393
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/51b1defb1a885b70b22f620371f5c705/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c547922a8f0730a3d279e69981c65d1d3a8a707fdd3457e96bf2283789556b4c
+size 3827008

dataset/desktop_supplies/electronic_accessories/51b1defb1a885b70b22f620371f5c705/tv_remote_008.urdf

@@ -47,16 +47,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>1</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>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>