Add asset desktop_supplies/electronic_accessories/ce9f0796beb25ea298eeb69dab2cba19

.gitattributes

@@ -8125,4 +8125,4 @@ dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0
 dataset/desktop_supplies/electronic_accessories/c89c4c828a625933a0beb1948aa805d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c9382dc6332f5b01a6fce3662595ba80/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c9ad5a2cc77b517bb8e6b2fb77d8093b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/ce9f0796beb25ea298eeb69dab2cba19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/ce9f0796beb25ea298eeb69dab2cba19/affordance/affordance_annot.json

@@ -0,0 +1,381 @@
+{
+    "affordances": [
+        {
+            "part_name": "charger body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the charger",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body while inserting or removing the charger from a wall outlet",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "stabilize the charger body while aligning a cable with the output ports",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support the plug prongs",
+                "support the charging ports",
+                "provide exterior protection"
+            ],
+            "semantic_description": "Large tapered rectangular dark gray plastic housing with a smooth matte finish, rounded edges, and white vivo branding, forming most of the charger.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.8556919097900391,
+                    "position": [
+                        0.07890398940071464,
+                        0.05433054378954694,
+                        -0.0014327268436318263
+                    ],
+                    "orientation": {
+                        "w": 0.6824069518649468,
+                        "xyz": [
+                            0.19573895295517665,
+                            -0.6755873246842986,
+                            0.19896929679806344
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8320677876472473,
+                    "position": [
+                        0.07382209738716483,
+                        0.06469516566721722,
+                        0.00519067830464337
+                    ],
+                    "orientation": {
+                        "w": 0.6459290128980995,
+                        "xyz": [
+                            0.22187183420470108,
+                            -0.6914137584092734,
+                            0.23557507118855323
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8318203687667847,
+                    "position": [
+                        -0.01057738484814763,
+                        -0.09826176502974704,
+                        -0.0024581720208516344
+                    ],
+                    "orientation": {
+                        "w": 0.5440939983679852,
+                        "xyz": [
+                            -0.4935820008078844,
+                            0.5005192097040757,
+                            0.45806009445883056
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.8249234557151794,
+                    "position": [
+                        0.07009993633255363,
+                        0.06293714902130887,
+                        0.01907916869095061
+                    ],
+                    "orientation": {
+                        "w": 0.6064314671027047,
+                        "xyz": [
+                            0.28044679829824326,
+                            -0.7142627342271203,
+                            0.20837278019531116
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8208094835281372,
+                    "position": [
+                        0.0958306803368032,
+                        -0.020218138408381492,
+                        -0.005422725909738801
+                    ],
+                    "orientation": {
+                        "w": 0.7150834125493052,
+                        "xyz": [
+                            -0.11498802902550144,
+                            -0.6889925740102995,
+                            -0.026883065977168826
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8201672434806824,
+                    "position": [
+                        0.0835376544855535,
+                        0.044220001611392945,
+                        0.020704561276943423
+                    ],
+                    "orientation": {
+                        "w": 0.6033678081782501,
+                        "xyz": [
+                            0.14325406328896673,
+                            -0.7618534461418833,
+                            0.18709593263112717
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rear housing section",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear section to pull the charger from an outlet",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "pinch the rear section to reorient the charger before plugging in",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "form part of the outer housing",
+                "join the main body at the seam",
+                "support pulling from outlet",
+                "protect internal structure"
+            ],
+            "semantic_description": "Smaller dark gray plastic end section with a smooth matte finish and rounded corners, separated by a visible seam at the port end of the charger.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.6307381987571716,
+                    "position": [
+                        0.0025954172015190125,
+                        -0.06562042125733569,
+                        0.08078629466763232
+                    ],
+                    "orientation": {
+                        "w": 0.029336965710001106,
+                        "xyz": [
+                            -0.03811784871670281,
+                            -0.9567721924064307,
+                            -0.28683330331384566
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.5668660402297974,
+                    "position": [
+                        -0.04046419495716691,
+                        -0.0717253673938103,
+                        0.06519945654144976
+                    ],
+                    "orientation": {
+                        "w": 0.30893376993878163,
+                        "xyz": [
+                            -0.9022067661651616,
+                            -0.12997382843943484,
+                            -0.27145843291010463
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.5021329522132874,
+                    "position": [
+                        -0.04680300736799836,
+                        -0.07606737950118259,
+                        0.05932795572152827
+                    ],
+                    "orientation": {
+                        "w": 0.2429211486979154,
+                        "xyz": [
+                            0.04032180111467388,
+                            0.8887648015166832,
+                            0.38660133917921835
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.6395983695983887,
+                    "position": [
+                        -0.09506761142984033,
+                        0.009655217814724892,
+                        -0.00614484456309583
+                    ],
+                    "orientation": {
+                        "w": 0.5298439041415998,
+                        "xyz": [
+                            -0.445827837686571,
+                            0.5340452808643414,
+                            -0.4850758851707945
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.6317828297615051,
+                    "position": [
+                        -0.08072617510333657,
+                        -0.07280298956902698,
+                        -0.015196295091300271
+                    ],
+                    "orientation": {
+                        "w": 0.7017871481818225,
+                        "xyz": [
+                            -0.23299828630381336,
+                            0.6269023340409929,
+                            0.24535700682936754
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.6304912567138672,
+                    "position": [
+                        0.051624303217977285,
+                        -0.09521714487345889,
+                        0.0020944016432622448
+                    ],
+                    "orientation": {
+                        "w": 0.35154466123745215,
+                        "xyz": [
+                            -0.6212418498137812,
+                            0.3495779041054402,
+                            0.60685270383895
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.5153997540473938,
+                    "position": [
+                        -0.08810745785012841,
+                        -0.06929039844544604,
+                        -0.013768056975095533
+                    ],
+                    "orientation": {
+                        "w": 0.698126151659528,
+                        "xyz": [
+                            -0.2005893426698708,
+                            0.6523581675848458,
+                            0.21636222674410868
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "plug-face panel",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount the plug prongs",
+                "define plug orientation",
+                "insulate around electrical pins"
+            ],
+            "semantic_description": "Flat dark gray plastic panel with a smooth matte finish on the plug side of the charger, surrounding the two metal prongs.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left plug prong",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect to wall outlet",
+                "conduct electrical power",
+                "anchor charger in socket"
+            ],
+            "semantic_description": "One round metal plug prong protruding from the plug face, with a darker metallic shaft and a white insulating sleeve near the tip.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right plug prong",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect to wall outlet",
+                "conduct electrical power",
+                "anchor charger in socket"
+            ],
+            "semantic_description": "One round metal plug prong protruding parallel to the other from the plug face, with a darker metallic shaft and a white insulating sleeve near the tip.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left prong insulating tip",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "insulate the prong tip region",
+                "help define plug insertion geometry"
+            ],
+            "semantic_description": "Small white insulating sleeve on one plug prong near its tip, with a smooth nonmetallic appearance.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right prong insulating tip",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "insulate the prong tip region",
+                "help define plug insertion geometry"
+            ],
+            "semantic_description": "Small white insulating sleeve on the other plug prong near its tip, with a smooth nonmetallic appearance.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "USB-A port",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept USB-A cable",
+                "output charging power",
+                "provide cable interface"
+            ],
+            "semantic_description": "Rectangular USB-A port opening with a dark interior and orange internal insert on the charger output face, positioned beside the smaller USB-C port.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "USB-C port",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept USB-C cable",
+                "output charging power",
+                "provide cable interface"
+            ],
+            "semantic_description": "Small rounded-rectangle USB-C socket with a dark interior on the output face, recessed beside the USB-A port.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "port-face plate",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount the charging ports",
+                "define cable insertion face",
+                "protect the front opening area"
+            ],
+            "semantic_description": "Flat dark gray front panel with a smooth matte finish, forming the charger output face and holding both charging ports.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Prong side and rear housing are mislabeled; prong descriptions swap left/right and white sleeves are not separate mask parts."
+    }
+}

dataset/desktop_supplies/electronic_accessories/ce9f0796beb25ea298eeb69dab2cba19/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3798492