Add asset desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa

.gitattributes

@@ -8147,3 +8147,4 @@ dataset/desktop_supplies/electronic_accessories/e769ea6364175420ba67a4e64f29eb60
 dataset/desktop_supplies/electronic_accessories/e9e176a4afb455498d89858533410a5a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/eba77d741d4f51009e6b7df90fb99f2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/ee662dc4f7fb5b62913b7226fe21861c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/affordance/affordance_annot.json

@@ -0,0 +1,228 @@
+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body from the sides to pick up the remote",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to stabilize the remote while pressing buttons",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the body to place or reposition the remote on a surface",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support the control interface",
+                "provide structural enclosure"
+            ],
+            "semantic_description": "Elongated light gray or off-white plastic front housing with a dark gray to black back and side surfaces, mostly matte smooth hard surface, rounded rectangular shape, medium size, forming the main shell around the front controls.",
+            "id": 15,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9874563813209534,
+                    "position": [
+                        -0.11105241729092086,
+                        0.06742012221366167,
+                        -0.0018272942397743464
+                    ],
+                    "orientation": {
+                        "w": 0.018616154819163067,
+                        "xyz": [
+                            -0.6954414604080188,
+                            -0.012694480908134298,
+                            -0.7182293951654889
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9873133301734924,
+                    "position": [
+                        0.11065751956630265,
+                        0.07526749838143587,
+                        -0.0005186526104807854
+                    ],
+                    "orientation": {
+                        "w": 0.709283625408941,
+                        "xyz": [
+                            -0.0022968702064923947,
+                            -0.7048635414210527,
+                            0.008879813588971974
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9872595071792603,
+                    "position": [
+                        0.11360853062797105,
+                        -0.05462925415486097,
+                        0.0011040572717320174
+                    ],
+                    "orientation": {
+                        "w": 0.011790793806686045,
+                        "xyz": [
+                            0.7090797380193351,
+                            0.019270082976384106,
+                            -0.7047663202891599
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9870518445968628,
+                    "position": [
+                        0.11617123233008897,
+                        0.09255525935441256,
+                        0.0043793232180178165
+                    ],
+                    "orientation": {
+                        "w": 0.03687649037659155,
+                        "xyz": [
+                            0.7141210192573083,
+                            0.003618249862387346,
+                            -0.6990409162419192
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9866665005683899,
+                    "position": [
+                        0.11542800711322343,
+                        0.07065522391349077,
+                        0.002444893238134682
+                    ],
+                    "orientation": {
+                        "w": 0.7042705400977872,
+                        "xyz": [
+                            -0.007593101103773429,
+                            -0.7098789800695702,
+                            -0.004145457922255251
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9862090945243835,
+                    "position": [
+                        0.11073391036916291,
+                        -0.07270573358982801,
+                        -0.0011004048865288496
+                    ],
+                    "orientation": {
+                        "w": 0.009370742839121952,
+                        "xyz": [
+                            0.7042700882990627,
+                            0.003850446392458684,
+                            -0.7098598495255614
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.985679566860199,
+                    "position": [
+                        0.11014681206870591,
+                        0.04106142092496157,
+                        0.00017591234063729644
+                    ],
+                    "orientation": {
+                        "w": 0.09128048192498199,
+                        "xyz": [
+                            -0.6967623350575423,
+                            0.13257486303883892,
+                            0.6990093187897689
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9854001402854919,
+                    "position": [
+                        0.10904245721030748,
+                        -0.07655930053442717,
+                        0.0020538143580779433
+                    ],
+                    "orientation": {
+                        "w": 0.04584238653829411,
+                        "xyz": [
+                            0.7167345118868881,
+                            5.381054078545944e-05,
+                            -0.695837705338798
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9852426052093506,
+                    "position": [
+                        -0.11258814586471999,
+                        -0.09361506532877684,
+                        -0.0007177575025707483
+                    ],
+                    "orientation": {
+                        "w": 0.700712166607684,
+                        "xyz": [
+                            -0.02218868549610031,
+                            0.711318481120676,
+                            0.050360105441659996
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9849440455436707,
+                    "position": [
+                        0.11430671708512818,
+                        0.07489896286278963,
+                        0.0048002616968005896
+                    ],
+                    "orientation": {
+                        "w": 0.7024803624507888,
+                        "xyz": [
+                            -0.003487434783747986,
+                            -0.7116944223699528,
+                            0.00047679884332588906
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9847820401191711,
+                    "position": [
+                        -0.11338193817209685,
+                        -0.08569760154932737,
+                        -0.00042452721390873194
+                    ],
+                    "orientation": {
+                        "w": 0.70024708421306,
+                        "xyz": [
+                            0.002833168685237832,
+                            0.7136322103202419,
+                            0.019366532982297457
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "buttons",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press to send commands",
+                "provide user input",
+                "control navigation and power",
+                "select functions"
+            ],
+            "semantic_description": "Small black plastic buttons with a matte slightly textured hard surface, including a large circular directional pad and several raised rectangular keys on the front face near the top and middle of the remote.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb9d2768c062ea0403e14b52b00501e80f19d3f87cfa9730ad75a842e3d1a01f
+size 3812344

dataset/desktop_supplies/electronic_accessories/f16a9d4d72b55703b92eeea6eea45eaa/tv_remote_027.urdf

@@ -58,6 +58,7 @@
                <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>