Add asset desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81

.gitattributes

@@ -8129,3 +8129,4 @@ dataset/desktop_supplies/electronic_accessories/ce9f0796beb25ea298eeb69dab2cba19
 dataset/desktop_supplies/electronic_accessories/cf1214d49fbe5884b27c40ccea186056/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/cfbaca7830eb5e2ca9170a688bb4b9ba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/d1609396d25452e2bb7200a611061c9e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/affordance/affordance_annot.json

@@ -0,0 +1,400 @@
+{
+    "affordances": [
+        {
+            "part_name": "rear upper shell",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mouse body around the rear sides to pick it up",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the rear shell to reposition the mouse on a desk",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "stabilize the mouse body during inspection",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "rear hand support surface",
+                "enclose internal electronics",
+                "provide overall structure"
+            ],
+            "semantic_description": "Large white plastic rear upper body with a smooth matte-to-satin finish, gently domed shape, occupying the back half of the mouse and bearing a black logo/graphic on top.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.15984424948692322,
+                    "position": [
+                        0.11203615367412567,
+                        0.0037902610492892563,
+                        0.0732481756422203
+                    ],
+                    "orientation": {
+                        "w": 0.24322733360436344,
+                        "xyz": [
+                            0.6743109567738701,
+                            -0.6625442099287179,
+                            -0.21721042252238143
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.1571710854768753,
+                    "position": [
+                        0.09050654619932175,
+                        0.006044384383130819,
+                        0.08326260533067398
+                    ],
+                    "orientation": {
+                        "w": 0.2091029568334066,
+                        "xyz": [
+                            0.6962232493136756,
+                            -0.6608652008871616,
+                            -0.18656453793528427
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.15039902925491333,
+                    "position": [
+                        0.08935637772083282,
+                        -0.00033499002165626734,
+                        0.08711880233022384
+                    ],
+                    "orientation": {
+                        "w": 0.17881634641909253,
+                        "xyz": [
+                            0.6982193566574254,
+                            -0.6698733909126067,
+                            -0.17828091426023132
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.14026480913162231,
+                    "position": [
+                        0.12780870497226715,
+                        0.015255906444508582,
+                        0.054269021115032956
+                    ],
+                    "orientation": {
+                        "w": 0.35584103316729365,
+                        "xyz": [
+                            0.6430268875223991,
+                            -0.5946996163598535,
+                            -0.3259232230742885
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.10227454453706741,
+                    "position": [
+                        0.10265817493200302,
+                        -0.010777141142170876,
+                        0.07478819575044326
+                    ],
+                    "orientation": {
+                        "w": 0.2461946260548673,
+                        "xyz": [
+                            -0.6685102255025615,
+                            -0.6705247984357328,
+                            0.20707191790037263
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.09280788898468018,
+                    "position": [
+                        0.10769717395305634,
+                        -0.017518785956781358,
+                        0.07059263970586471
+                    ],
+                    "orientation": {
+                        "w": 0.30696243912765947,
+                        "xyz": [
+                            -0.648107679371767,
+                            -0.6679170415087976,
+                            0.19904100724794457
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "primary button panel",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "left and right click input surfaces",
+                "finger contact surface",
+                "cover switch mechanisms",
+                "support primary mouse interaction"
+            ],
+            "semantic_description": "White plastic front top button panel with a smooth hard finish, split around the central scroll-wheel opening and extending across the front upper portion of the mouse.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom base",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the mouse by the lower body and base edge to lift it",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the underside while turning the mouse over for inspection",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "support sliding on desk",
+                "close the underside",
+                "mount sensor opening",
+                "provide lower structure"
+            ],
+            "semantic_description": "Broad light gray plastic underside with a smooth hard finish, flat rounded profile, and a small central optical sensor opening on the bottom.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.4322265684604645,
+                    "position": [
+                        -0.08435279875993729,
+                        -0.0022088097757659853,
+                        -0.09450191471842118
+                    ],
+                    "orientation": {
+                        "w": 0.7203117854027136,
+                        "xyz": [
+                            -0.16916004273636542,
+                            0.1632281613983716,
+                            -0.6526043051328216
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.42698442935943604,
+                    "position": [
+                        -0.04526466503739357,
+                        -0.0011515642399899662,
+                        -0.10449891749885865
+                    ],
+                    "orientation": {
+                        "w": 0.6897894208257572,
+                        "xyz": [
+                            0.005496791381667886,
+                            0.015377817262099414,
+                            0.723825851249889
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.41646620631217957,
+                    "position": [
+                        -0.026854895055294037,
+                        -0.002910897776018828,
+                        -0.10777839485672303
+                    ],
+                    "orientation": {
+                        "w": 0.7436806161534008,
+                        "xyz": [
+                            -0.0030558890709787285,
+                            -0.009835062082612755,
+                            -0.6684557384401119
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.41517001390457153,
+                    "position": [
+                        -0.03485448658466339,
+                        0.005426461633760482,
+                        -0.10513685856130905
+                    ],
+                    "orientation": {
+                        "w": 0.7285641036441479,
+                        "xyz": [
+                            0.018333380941545435,
+                            0.011493433007568221,
+                            -0.6846357681440199
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.4151599109172821,
+                    "position": [
+                        -0.02693023718893528,
+                        0.002765761048067361,
+                        -0.10559228275087662
+                    ],
+                    "orientation": {
+                        "w": 0.7373606656098339,
+                        "xyz": [
+                            0.01178247853459031,
+                            -0.004291203487566397,
+                            -0.6753828600013722
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.4149794280529022,
+                    "position": [
+                        -0.02956746518611908,
+                        0.0014574896194972098,
+                        -0.1012336483981926
+                    ],
+                    "orientation": {
+                        "w": 0.6901673494328615,
+                        "xyz": [
+                            0.017710598455696294,
+                            0.014477421700846649,
+                            0.7232881643854372
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.4087170362472534,
+                    "position": [
+                        -0.05938662961125374,
+                        -0.008575945335905999,
+                        -0.0974867588665802
+                    ],
+                    "orientation": {
+                        "w": 0.7217388751909067,
+                        "xyz": [
+                            -0.13511571704172567,
+                            0.10288004543168272,
+                            -0.6710085210326616
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.40476730465888977,
+                    "position": [
+                        -0.029980884864926338,
+                        0.0062924319063313305,
+                        -0.10632302079466172
+                    ],
+                    "orientation": {
+                        "w": 0.7346205804922277,
+                        "xyz": [
+                            0.016607714978010765,
+                            0.014155946658189977,
+                            -0.6781271235503572
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "scroll wheel",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scroll input",
+                "middle click input",
+                "provide tactile finger traction",
+                "support incremental control"
+            ],
+            "semantic_description": "Small black wheel with a ribbed rubberized texture and semi-matte finish, centered between the primary buttons and protruding slightly for finger rolling.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "dpi button",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "change sensitivity",
+                "mode switching",
+                "secondary button input"
+            ],
+            "semantic_description": "Small light gray to beige rectangular button with a smooth plastic finish, located behind the scroll wheel on the top center and slightly raised above the surrounding shell.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "sensor window",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "track surface motion",
+                "optical sensing",
+                "indicate active sensor location"
+            ],
+            "semantic_description": "Tiny dark red optical window set into the center of the gray underside, appearing glossy and recessed within the base.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side seam trim",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "housing seam",
+                "visual accent",
+                "separate upper and lower housing"
+            ],
+            "semantic_description": "Thin seam-like edge line along the side and front perimeter where the white upper shell meets the gray base; the visible part is a subtle narrow border rather than a bright colored strip.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "side click input",
+                "shortcut control",
+                "thumb interaction"
+            ],
+            "semantic_description": "Small light gray to beige side-mounted button on the left flank near the front upper edge, slightly raised for thumb access.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "thumb accent / side insert",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "visual accent",
+                "side styling element",
+                "border around side control area"
+            ],
+            "semantic_description": "Small curved light gray to beige side insert near the left thumb-button area, appearing as a smooth plastic accent around or just below the side control region.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top indicator window",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicator light window",
+                "show device status",
+                "highlight top control area"
+            ],
+            "semantic_description": "Small dark rectangular insert on the top center behind the scroll wheel area, with a glossy appearance and slightly recessed placement within the button cluster.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts are misidentified: yellow/purple swapped, blue is DPI button not indicator, cyan is bottom rim not side seam trim."
+    }
+}

dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3dc90a96e47478617200e72ba9889d1cfa5106c329a27829c393933e27100b8
+size 3782096

dataset/desktop_supplies/electronic_accessories/d1757d0a27045b75a5a6e824186edb81/mouse_020.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>