Add asset desktop_supplies/electronic_accessories/b9359304d31459aeb7f65fe1e6e3d42a

.gitattributes

@@ -6278,3 +6278,4 @@ dataset/desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711
 dataset/desktop_supplies/electronic_accessories/b50d503796f856a0af5cfeedeba4e40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/b79fcf41f79d5a8a9e4bb9310ca3c10f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/b9359304d31459aeb7f65fe1e6e3d42a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/b9359304d31459aeb7f65fe1e6e3d42a/affordance/affordance_annot.json

@@ -0,0 +1,409 @@
+{
+    "affordances": [
+        {
+            "part_name": "controller body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handles to pick up the gamepad",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the main body to reposition or place the gamepad",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "stabilize the controller body while another tool presses buttons",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "main structural housing",
+                "support all controls",
+                "provide primary handhold",
+                "protect internal electronics"
+            ],
+            "semantic_description": "Large red gamepad housing with matte plastic surfaces and dark gray to black textured grip areas on the handles, forming the full controller body with two curved handles and the central control face.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.8972144722938538,
+                    "position": [
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+                        0.013589527981821448,
+                        -0.0425442956329789
+                    ],
+                    "orientation": {
+                        "w": 0.028178974287254275,
+                        "xyz": [
+                            0.5788902505173463,
+                            0.010386967123936275,
+                            0.8148522161582727
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8967593312263489,
+                    "position": [
+                        -0.13026791205629706,
+                        0.03269974474096671,
+                        -0.04891937374486588
+                    ],
+                    "orientation": {
+                        "w": 0.03549171913451153,
+                        "xyz": [
+                            0.5559487210825249,
+                            0.01398795909341255,
+                            0.8303407098293943
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.89556884765625,
+                    "position": [
+                        -0.12995984544977546,
+                        0.03748022724175826,
+                        -0.04645779132260941
+                    ],
+                    "orientation": {
+                        "w": 0.031791172603802695,
+                        "xyz": [
+                            0.5660924633938219,
+                            0.014958958658059518,
+                            0.8235926625395931
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.8908504843711853,
+                    "position": [
+                        -0.1288451119326055,
+                        0.04577560309553519,
+                        -0.048923620575806126
+                    ],
+                    "orientation": {
+                        "w": 0.03284777028376901,
+                        "xyz": [
+                            0.5587636916414234,
+                            0.008625748795014099,
+                            0.8286312553532836
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8903060555458069,
+                    "position": [
+                        -0.13191199442371726,
+                        0.02459398057544604,
+                        -0.04159878342761658
+                    ],
+                    "orientation": {
+                        "w": 0.04312901497633955,
+                        "xyz": [
+                            0.580501579930985,
+                            0.02226594729114706,
+                            0.8128111904717038
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8881049752235413,
+                    "position": [
+                        -0.12698172917589545,
+                        0.031619213114026934,
+                        -0.05413329749717377
+                    ],
+                    "orientation": {
+                        "w": 0.04324858342594876,
+                        "xyz": [
+                            0.5316823296274373,
+                            0.005954324498121166,
+                            0.8458179511061237
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.8877763152122498,
+                    "position": [
+                        -0.12655597319826484,
+                        -0.015078450960572809,
+                        -0.05762155129923485
+                    ],
+                    "orientation": {
+                        "w": 0.8561466697759561,
+                        "xyz": [
+                            -0.01653565237754959,
+                            0.5163917661769396,
+                            0.008887961332604206
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.8852554559707642,
+                    "position": [
+                        -0.11922102561220527,
+                        -0.04867561947321519,
+                        -0.0654903814138379
+                    ],
+                    "orientation": {
+                        "w": 0.09381954253726243,
+                        "xyz": [
+                            -0.4839661215690394,
+                            -0.1264695258446662,
+                            -0.8608020362685872
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8832852840423584,
+                    "position": [
+                        -0.1331853880546987,
+                        0.034578278253320605,
+                        -0.0429616138280835
+                    ],
+                    "orientation": {
+                        "w": 0.031344000485697895,
+                        "xyz": [
+                            0.5809267623225554,
+                            0.005972514943346718,
+                            0.8133301786582355
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8824149370193481,
+                    "position": [
+                        -0.12858154764398932,
+                        0.05312290746951476,
+                        -0.04968900381936692
+                    ],
+                    "orientation": {
+                        "w": 0.05323785114025547,
+                        "xyz": [
+                            0.5564670912484916,
+                            -0.027596247328792844,
+                            0.8287029351322335
+                        ]
+                    }
+                },
+                "grasp_20": {
+                    "confidence": 0.8798648715019226,
+                    "position": [
+                        -0.12886044522747397,
+                        0.043008587846998125,
+                        -0.04969656988396309
+                    ],
+                    "orientation": {
+                        "w": 0.827157565289653,
+                        "xyz": [
+                            0.01374111637827418,
+                            0.5614493933037571,
+                            -0.019902830542794448
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.8784729242324829,
+                    "position": [
+                        -0.11501966556534171,
+                        -0.019043378939386457,
+                        -0.07048040776862763
+                    ],
+                    "orientation": {
+                        "w": 0.8928243822958433,
+                        "xyz": [
+                            -0.019376975238368992,
+                            0.4496008169027975,
+                            0.01866174292490829
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.8783068060874939,
+                    "position": [
+                        -0.13177707185968757,
+                        0.019271680677775294,
+                        -0.046596610540291294
+                    ],
+                    "orientation": {
+                        "w": 0.8220942479224667,
+                        "xyz": [
+                            -0.010240378832594692,
+                            0.5692247200103072,
+                            -0.006276966094131388
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "grip pad",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a textured side grip for secure pickup",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "pinch a grip pad to stabilize the controller during manipulation",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "improve grip",
+                "add friction for holding",
+                "provide side contact surface",
+                "aid controller stabilization"
+            ],
+            "semantic_description": "Dark gray to black textured side panel on each handle, matte and slightly patterned, medium-sized and shaped to provide a higher-friction grip surface.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "directional pad",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "direction input",
+                "menu navigation",
+                "game control input"
+            ],
+            "semantic_description": "Black cross-shaped plastic pad on the front face with a matte finish, slightly raised and medium-sized for thumb directional presses.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left analog stick",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the stick cap to tilt it for input testing",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "lightly grasp the stick to manipulate the controller during inspection",
+                    "confidence": 0.24
+                }
+            ],
+            "functional_labels": [
+                "analog directional input",
+                "character or camera control",
+                "fine continuous control"
+            ],
+            "semantic_description": "Small black joystick with a matte rubber-like cap, slightly concave and protruding from the front face for thumb manipulation.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.7013463973999023,
+                    "position": [
+                        0.08707477012649179,
+                        -0.0012712989118881524,
+                        0.06628029645071365
+                    ],
+                    "orientation": {
+                        "w": 0.07684403829810817,
+                        "xyz": [
+                            -0.8592666439795544,
+                            0.08577566417962312,
+                            0.49839579026783215
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.5127068161964417,
+                    "position": [
+                        0.07714389869943261,
+                        -0.022344826196786016,
+                        0.06655341983423568
+                    ],
+                    "orientation": {
+                        "w": 0.4455498811866688,
+                        "xyz": [
+                            -0.18780290510295222,
+                            -0.8570635820257554,
+                            -0.17792523310261307
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "face button cluster",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "discrete button input",
+                "command selection",
+                "action triggering"
+            ],
+            "semantic_description": "Cluster of four small round glossy plastic buttons in green, red, blue, and yellow on the right front face, each slightly raised with printed symbols.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small front button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "auxiliary input",
+                "menu or system control",
+                "secondary command trigger"
+            ],
+            "semantic_description": "Small black round front-face button near the center controls, slightly raised with a smooth finish.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small front button",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "auxiliary input",
+                "menu or system control",
+                "secondary command trigger"
+            ],
+            "semantic_description": "Small black polygonal front-face button near the center controls, slightly raised and used for secondary input.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small front button",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "auxiliary input",
+                "menu or system control",
+                "secondary command trigger"
+            ],
+            "semantic_description": "Small black round front-face button near the center controls, slightly raised with a smooth finish.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front port",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect accessory",
+                "data interface",
+                "power or charging interface"
+            ],
+            "semantic_description": "Small rectangular dark port opening set into the front lower edge of the controller, recessed and compact for cable or accessory connection.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part names/descriptions mismatch masks and object details; orange mask is not left stick, yellow is a single button, and center buttons are misidentified."
+    }
+}

dataset/desktop_supplies/electronic_accessories/b9359304d31459aeb7f65fe1e6e3d42a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee9ca991f8aa52c9fd51c00de0c87e04368bb7032b9b12d3634e287710c43cba
+size 3786760

dataset/desktop_supplies/electronic_accessories/b9359304d31459aeb7f65fe1e6e3d42a/gamepad_008.urdf

@@ -54,6 +54,7 @@
                <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":"Large functional regions are merged and one grip is inconsistently split; key controls are missing as distinct parts.","merge_groups":[]}</PartSegChecker>