Add asset desktop_supplies/electronic_accessories/e609f83707925a7dae0434448470d42c

.gitattributes

@@ -8143,3 +8143,4 @@ dataset/desktop_supplies/electronic_accessories/e0b92f733d435d778bbab8c864a5ffc3
 dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e37dd0be37065bc18505c6edfd159982/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/e609f83707925a7dae0434448470d42c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/e609f83707925a7dae0434448470d42c/affordance/affordance_annot.json

@@ -0,0 +1,506 @@
+{
+    "affordances": [
+        {
+            "part_name": "controller shell",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one or both side handles to pick up the controller",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the main body to stabilize it during inspection or manipulation",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "clamp across the shell to reorient the controller",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "houses internal electronics",
+                "supports the controls",
+                "provides handhold geometry",
+                "protects internal components"
+            ],
+            "semantic_description": "Large white plastic outer body with a smooth matte finish, rounded dual-handle shape, and a black central front section typical of a PlayStation 5 DualSense-style controller.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8926237225532532,
+                    "position": [
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+                    }
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+                "grasp_5": {
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+                "grasp_7": {
+                    "confidence": 0.8826193809509277,
+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            0.2693675432185012,
+                            0.5267372088384089
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+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8818742036819458,
+                    "position": [
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+                        -0.17129028448835015,
+                        -0.02757882617879659
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+                    "orientation": {
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+                        "xyz": [
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+                            0.29730183095069307,
+                            0.4435751493495531
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8790853023529053,
+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            0.01830935690544916
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+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.8782311081886292,
+                    "position": [
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+                        -0.1671426654793322,
+                        -0.026475141872651875
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.24898301331588868,
+                            0.458174708972857
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.875626802444458,
+                    "position": [
+                        -0.1225533657707274,
+                        0.0648272424004972,
+                        -0.05758022062946111
+                    ],
+                    "orientation": {
+                        "w": 0.8481612870723438,
+                        "xyz": [
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+                            0.523399730520518,
+                            -0.03283229989279555
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.8729033470153809,
+                    "position": [
+                        0.05239236494526267,
+                        -0.17089050123468041,
+                        -0.022030768101103604
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+                    "orientation": {
+                        "w": 0.6285754214738947,
+                        "xyz": [
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+                            0.28789890883640423,
+                            0.5087374327371983
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8723130226135254,
+                    "position": [
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+                        -0.1741401762701571,
+                        0.013025170075707138
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+                    "orientation": {
+                        "w": 0.5715806525072644,
+                        "xyz": [
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+                            0.37847166070645044,
+                            0.41788713077549067
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8716917634010315,
+                    "position": [
+                        0.036119581665843725,
+                        -0.1728962273336947,
+                        0.005505664623342454
+                    ],
+                    "orientation": {
+                        "w": 0.5798700120156531,
+                        "xyz": [
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+                            0.40463440488147306,
+                            0.4217653527612116
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8705275654792786,
+                    "position": [
+                        0.033787240739911795,
+                        -0.17122398922219872,
+                        0.00455416168551892
+                    ],
+                    "orientation": {
+                        "w": 0.5931710384953709,
+                        "xyz": [
+                            -0.5853637676738499,
+                            0.36666111691835857,
+                            0.4135903818093205
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8693647384643555,
+                    "position": [
+                        -0.12601185822859406,
+                        0.05272231390699744,
+                        -0.05284467258024961
+                    ],
+                    "orientation": {
+                        "w": 0.028284667451914124,
+                        "xyz": [
+                            0.541013372545163,
+                            0.010299036558271357,
+                            0.8404751264376681
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8687276840209961,
+                    "position": [
+                        -0.12278565997257829,
+                        0.046376978512853384,
+                        -0.05497830279637128
+                    ],
+                    "orientation": {
+                        "w": 0.8432984159231013,
+                        "xyz": [
+                            0.008868683973972467,
+                            0.5373702046189549,
+                            0.0015463938505274717
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8685978651046753,
+                    "position": [
+                        0.03828917210921645,
+                        -0.17311235377565026,
+                        -0.013246797141619027
+                    ],
+                    "orientation": {
+                        "w": 0.6256563390526613,
+                        "xyz": [
+                            -0.5446247543857672,
+                            0.33412715865639986,
+                            0.44754560009195166
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "center touchpad",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "touch input",
+                "gesture input",
+                "central control surface"
+            ],
+            "semantic_description": "Medium black rectangular touchpad at the front center with a smooth matte finish, slightly recessed into the controller face.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left analog stick",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "thumb directional input",
+                "analog movement control",
+                "fine game control"
+            ],
+            "semantic_description": "Small black thumbstick with a matte rubberized-looking finish and slightly concave top, protruding from the left front face near the center.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right analog stick",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "thumb directional input",
+                "camera or aim control",
+                "fine game control"
+            ],
+            "semantic_description": "Small black thumbstick with a matte rubberized-looking finish and slightly concave top, protruding from the right front face near the center.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "directional pad",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "digital directional input",
+                "menu navigation",
+                "select directional commands"
+            ],
+            "semantic_description": "Cross-shaped button cluster on the left front face, white to light gray with darker symbol markings and a shallow raised profile.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "face buttons",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "action input",
+                "menu selection",
+                "trigger gameplay commands"
+            ],
+            "semantic_description": "Cluster of four round buttons on the right front face, white to light gray with subtle gray symbol markings and slightly raised smooth surfaces.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left shoulder button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "top edge input",
+                "secondary command input",
+                "index-finger control"
+            ],
+            "semantic_description": "Dark left top shoulder button near the upper edge, a curved hard plastic piece with a smooth matte finish.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right shoulder button",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "top edge input",
+                "secondary command input",
+                "index-finger control"
+            ],
+            "semantic_description": "Dark right top shoulder button near the upper edge, a curved hard plastic piece with a smooth matte finish.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left adaptive trigger",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "rear trigger input",
+                "variable pull control",
+                "index-finger actuation"
+            ],
+            "semantic_description": "Rear left upper trigger in dark plastic with a smooth matte finish, elongated curved shape, partially visible behind the shell edge.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right adaptive trigger",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "rear trigger input",
+                "variable pull control",
+                "index-finger actuation"
+            ],
+            "semantic_description": "Rear right upper trigger in dark plastic with a smooth matte finish, elongated curved shape, partially visible behind the shell edge.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mute button",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "microphone mute control",
+                "audio input toggle",
+                "small front-face system button"
+            ],
+            "semantic_description": "Small central front button below the touchpad area, appearing dark with a smooth hard finish and used to mute the built-in microphone.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "menu button",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "menu input",
+                "secondary system control",
+                "small front-face button"
+            ],
+            "semantic_description": "Tiny dark front-face button with a smooth hard finish, positioned near the upper face beside the main controls.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "USB-C port",
+            "mask_color": "Tan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "charging port",
+                "data connection",
+                "wired accessory interface"
+            ],
+            "semantic_description": "Small centered charging/data port on the front edge below the touchpad, metallic and dark inside, shaped like a narrow USB-C receptacle.",
+            "id": null
+        },
+        {
+            "part_name": "speaker grille",
+            "mask_color": "Light Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "audio output",
+                "built-in speaker opening",
+                "sound transmission"
+            ],
+            "semantic_description": "Set of small light-colored slotted openings on the front center area below the touchpad, forming the controller's speaker grille.",
+            "id": null
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Multiple parts misidentified or overdescribed: no touchpad, mute button, USB-C port, or speaker grille visible; center orange area is logo button."
+    }
+}

dataset/desktop_supplies/electronic_accessories/e609f83707925a7dae0434448470d42c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08674e0fc94458ee47809af1fb7be1160ddef80aab75422b8af644ba7cf1441d
+size 3792164

dataset/desktop_supplies/electronic_accessories/e609f83707925a7dae0434448470d42c/gamepad_003.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>YES</PartSegChecker>