Add asset desktop_supplies/electronic_accessories/51fc778182005ecc8d20500aee6c36a8

.gitattributes

@@ -6217,4 +6217,4 @@ 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/5635c5ef5fa05d39932e73aa6bf4e162/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/51fc778182005ecc8d20500aee6c36a8/affordance/affordance_annot.json

@@ -0,0 +1,297 @@
+{
+    "affordances": [
+        {
+            "part_name": "main body shell",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mouse body from both sides to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the shell to reposition or place the mouse on a surface",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the mouse body while another tool presses a control",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "enclose internal electronics",
+                "support hand placement",
+                "provide overall structure"
+            ],
+            "semantic_description": "Large dark gray matte plastic outer housing with a smooth hard surface and ergonomic contoured shape, covering most of the mouse body. A white logo is visible on the top rear area.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9694762229919434,
+                    "position": [
+                        -0.15855844336329028,
+                        0.0008469422900816426,
+                        -0.0019031721822102554
+                    ],
+                    "orientation": {
+                        "w": 0.7098013236951911,
+                        "xyz": [
+                            -0.0011126149632848551,
+                            0.7043985726992735,
+                            0.0018691569555153154
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9684226512908936,
+                    "position": [
+                        -0.16115306335268542,
+                        -0.0028453951963456348,
+                        -0.004401468271680642
+                    ],
+                    "orientation": {
+                        "w": 0.716914001259656,
+                        "xyz": [
+                            -0.02946895318991485,
+                            0.6964632779915658,
+                            0.010237089674485517
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9682179093360901,
+                    "position": [
+                        -0.12852877395926043,
+                        0.0837030859402148,
+                        -0.005831467053212691
+                    ],
+                    "orientation": {
+                        "w": 0.675142798218935,
+                        "xyz": [
+                            0.28353045899638873,
+                            0.6326926653394384,
+                            -0.2519775229263145
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9676410555839539,
+                    "position": [
+                        -0.16271886246977374,
+                        -0.016835089612868614,
+                        0.004241190319589805
+                    ],
+                    "orientation": {
+                        "w": 0.048719145072459905,
+                        "xyz": [
+                            -0.7163801197781761,
+                            -0.03317250571066532,
+                            -0.6952161920977464
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9669148325920105,
+                    "position": [
+                        -0.15923011320410296,
+                        0.012478141274186783,
+                        -0.0001917298577609472
+                    ],
+                    "orientation": {
+                        "w": 0.7037610550985183,
+                        "xyz": [
+                            0.022887502874505014,
+                            0.7099779885305787,
+                            -0.011304660139251528
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9650688171386719,
+                    "position": [
+                        -0.12448166328249499,
+                        0.08919024483475368,
+                        -0.009499268206127454
+                    ],
+                    "orientation": {
+                        "w": 0.6640286972010319,
+                        "xyz": [
+                            0.3045759574969566,
+                            0.6167854370936219,
+                            -0.29304453586023826
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9646990299224854,
+                    "position": [
+                        -0.11913829314289615,
+                        0.09611579046759289,
+                        0.003234686730138492
+                    ],
+                    "orientation": {
+                        "w": 0.631356484399169,
+                        "xyz": [
+                            0.3541878133850407,
+                            0.6180527817147188,
+                            -0.30651385200565234
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9645414352416992,
+                    "position": [
+                        -0.14591364579973742,
+                        0.0592655503860442,
+                        -0.0031518098621745594
+                    ],
+                    "orientation": {
+                        "w": 0.6942635732639639,
+                        "xyz": [
+                            0.1655906708275689,
+                            0.6822903933570895,
+                            -0.158296050823311
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9637593030929565,
+                    "position": [
+                        -0.15461500006495044,
+                        0.05450163052591961,
+                        -0.0068827276772935875
+                    ],
+                    "orientation": {
+                        "w": 0.7009930207964942,
+                        "xyz": [
+                            0.16609901999244894,
+                            0.6751847926564029,
+                            -0.15857299933369556
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9633768796920776,
+                    "position": [
+                        -0.14584665017900988,
+                        0.059868928205105476,
+                        -0.007751674922474194
+                    ],
+                    "orientation": {
+                        "w": 0.7018322221857245,
+                        "xyz": [
+                            0.17213452332340393,
+                            0.6720177509332959,
+                            -0.16184369067908247
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.963306725025177,
+                    "position": [
+                        -0.12044735270319507,
+                        0.0864119084289996,
+                        -0.01042512391722994
+                    ],
+                    "orientation": {
+                        "w": 0.6757062172649345,
+                        "xyz": [
+                            0.2581082904440342,
+                            0.6195663721772249,
+                            -0.3048585390319975
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9629626870155334,
+                    "position": [
+                        -0.14002038555918261,
+                        -0.06474270655598957,
+                        -0.005561836595006753
+                    ],
+                    "orientation": {
+                        "w": 0.6997879063111991,
+                        "xyz": [
+                            -0.18178169825129203,
+                            0.664726303172549,
+                            0.18812560227683336
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "accent trim strips",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorative accent",
+                "visual styling",
+                "edge highlighting"
+            ],
+            "semantic_description": "Thin bright blue accent trim running along the side edges and around small top sections of the mouse, appearing as narrow glossy plastic detailing.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side grip pad",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "use the textured side grip as a secondary contact area to stabilize the mouse during pickup",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "pinch lightly against the opposite side to help reposition the mouse",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "improve side traction",
+                "support thumb or finger contact",
+                "aid control during movement"
+            ],
+            "semantic_description": "Small black textured side insert near the lower side of the mouse, likely rubberized or textured plastic, with a vent-like ribbed pattern for extra grip.",
+            "id": 12,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.610273540019989,
+                    "position": [
+                        -0.03847669827518985,
+                        -0.0018539960292400792,
+                        -0.10424888839042978
+                    ],
+                    "orientation": {
+                        "w": 0.7190123383849457,
+                        "xyz": [
+                            -0.01808291482244559,
+                            0.009925803468172512,
+                            -0.6946911139976157
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side button cluster",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "auxiliary input",
+                "thumb actuation control",
+                "shortcut trigger"
+            ],
+            "semantic_description": "Small side-mounted button area on the left flank near the upper side, appearing as black plastic buttons with a smooth hard finish positioned for thumb access.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-color part mapping and visual descriptions are wrong for trim, side grip, and side buttons."
+    }
+}

dataset/desktop_supplies/electronic_accessories/51fc778182005ecc8d20500aee6c36a8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4d7ad29c002e7a6b0ae9dd277b1e66d58c5e867631322ef8c6697432a5b9080
+size 3774492

dataset/desktop_supplies/electronic_accessories/51fc778182005ecc8d20500aee6c36a8/mouse_015.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>NO: {"summary":"Wheel, side buttons, feet, and side grips are merged into body; merging cannot fix missing functional boundaries.","merge_groups":[]}</PartSegChecker>