Add asset desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b

.gitattributes

@@ -6232,3 +6232,4 @@ dataset/desktop_supplies/electronic_accessories/635bc3097cf25a858149c2b3f489b323
 dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/6b85303069285d3a87cc26607d1f5828/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/6cb519090f66525684cb5c142a3133fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/affordance/affordance_annot.json

@@ -0,0 +1,250 @@
+{
+    "affordances": [
+        {
+            "part_name": "mouse lower shell",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mouse body from the sides to pick it up",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the mouse body to reposition it on a desk",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the mouse body during inspection or top-button pressing",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "enclose internal electronics",
+                "support hand contact",
+                "provide structural body"
+            ],
+            "semantic_description": "Large black plastic lower body with a mostly matte finish and smooth hard surface, forming the sides, lower rear, and underside edge of the mouse with ergonomic curved contours.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_12": {
+                    "confidence": 0.6795105338096619,
+                    "position": [
+                        0.08406055020168424,
+                        -0.09973507339600474,
+                        -0.03039799421094358
+                    ],
+                    "orientation": {
+                        "w": 0.7209063067350907,
+                        "xyz": [
+                            -0.2376055181456689,
+                            -0.5671754568426589,
+                            -0.31960869170224454
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top shell with main click buttons",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper shell together with the sides to lift the mouse",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "stabilize the mouse by pressing down over the top during manipulation",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "cover internal components",
+                "support palm and finger contact",
+                "provide left and right click surfaces",
+                "define top shape"
+            ],
+            "semantic_description": "Broad black plastic upper shell with a matte smooth surface, gently domed over the mouse and carrying the main left and right click areas, with a white logo near the rear and red accent lighting along the outer edges.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_36": {
+                    "confidence": 0.229556605219841,
+                    "position": [
+                        0.07706747995689511,
+                        -0.00017080421093851328,
+                        0.11020342097617686
+                    ],
+                    "orientation": {
+                        "w": 0.15468293227310595,
+                        "xyz": [
+                            -0.6680167203194141,
+                            -0.7131047667032209,
+                            0.1459741194261238
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.22556136548519135,
+                    "position": [
+                        0.11763527290895581,
+                        0.0015329805901274085,
+                        0.08129504905082285
+                    ],
+                    "orientation": {
+                        "w": 0.2861715792383426,
+                        "xyz": [
+                            -0.6317533013990893,
+                            -0.6543204229506292,
+                            0.30142723419972134
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "scroll wheel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scroll content",
+                "middle-click input",
+                "support fine finger control"
+            ],
+            "semantic_description": "Small black and silver rubberized wheel with a ribbed textured surface and semi-gloss finish, recessed between the main buttons near the front top center.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "dpi button",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "switch sensitivity",
+                "provide button input",
+                "change cursor speed setting"
+            ],
+            "semantic_description": "Tiny black plastic button with a smooth matte finish, rectangular and slightly raised just behind the scroll wheel on the mouse top.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "scroll wheel surround",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide scroll wheel placement",
+                "frame top controls",
+                "cover gap around wheel"
+            ],
+            "semantic_description": "Narrow black plastic trim piece with a smooth matte surface, surrounding the wheel channel along the top center and extending rearward around the DPI button area.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side light strip",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide visual accent",
+                "indicate powered status",
+                "highlight mouse contour"
+            ],
+            "semantic_description": "Slim red illuminated strip embedded along the side contour, appearing as a narrow glossy LED accent tracing the upper body edge.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side thumb-rest/grip panel",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the textured side grip area against the opposite side to lift the mouse",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the thumb-rest area to stabilize the mouse while turning it",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "improve lateral grip",
+                "support thumb contact",
+                "stabilize handling"
+            ],
+            "semantic_description": "Medium-size black side panel on one flank with a matte finish and visible ribbed texture, inset along the upper side where the thumb rests for traction.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_41": {
+                    "confidence": 0.29779595136642456,
+                    "position": [
+                        -0.07341413898393512,
+                        -0.026501480140723288,
+                        0.08753386721946299
+                    ],
+                    "orientation": {
+                        "w": 0.13814140404633227,
+                        "xyz": [
+                            0.648330380155546,
+                            0.7066080682557159,
+                            0.24756758376531815
+                        ]
+                    }
+                },
+                "grasp_42": {
+                    "confidence": 0.254810631275177,
+                    "position": [
+                        -0.04099463997408748,
+                        -0.03225021774414927,
+                        0.10158023820258677
+                    ],
+                    "orientation": {
+                        "w": 0.19627939406595515,
+                        "xyz": [
+                            -0.7568113319217927,
+                            0.622352070603785,
+                            -0.03726805005692161
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front shell piece",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form front nose of mouse",
+                "cover front shell area",
+                "help define front contour"
+            ],
+            "semantic_description": "Small black plastic piece with a smooth matte finish at the very front tip of the mouse, positioned below the main top shell near the nose.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main button dividing seam",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate upper shell sections",
+                "mark boundary between top surfaces",
+                "allow shell/button clearance"
+            ],
+            "semantic_description": "Thin dark seam line with a smooth appearance running along the upper side transition between the yellow top shell and the blue lower shell, visible as a narrow boundary line rather than a distinct raised part.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-part identities are wrong: cyan is control strip, lime green is side seam, purple is side trim, teal is front lip."
+    }
+}

dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:488df292320b76ce0cfd4f93a4dbc85648c83f31cca4d3f3caead5ba8359c8be
+size 3789548

dataset/desktop_supplies/electronic_accessories/6f584a499cd8520daf859844f801373b/mouse_029.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>