Add asset desktop_supplies/electronic_accessories/a56b50b0cc2d5859a930d4883ed03f27

.gitattributes

@@ -6265,3 +6265,4 @@ dataset/desktop_supplies/electronic_accessories/9c6f8fb378ae51b1a0a684391d01f0b7
 dataset/desktop_supplies/electronic_accessories/9d0890d45fb25417aeff023cac28123a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/a0ff960790455e618f5e151e3cb9d43b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/a44a56ab097b584a90cd29e4a7855ea5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/a56b50b0cc2d5859a930d4883ed03f27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/a56b50b0cc2d5859a930d4883ed03f27/affordance/affordance_annot.json

@@ -0,0 +1,286 @@
+{
+    "affordances": [
+        {
+            "part_name": "top shell",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mouse body from above and the sides to pick it up",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the mouse body to reposition it on a surface",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the mouse while accessing the underside",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "form the main hand contact surface",
+                "cover internal components",
+                "provide the main grasp surface",
+                "define mouse orientation"
+            ],
+            "semantic_description": "Large cream-colored plastic upper shell with a smooth matte finish, gently domed and rounded, covering most of the top of the mouse; small blue and yellow sticker labels are visible near the rear in some views.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.05653338506817818,
+                    "position": [
+                        -0.01279607997275889,
+                        -0.012679862731602043,
+                        0.12249085959047079
+                    ],
+                    "orientation": {
+                        "w": 0.07315408380690805,
+                        "xyz": [
+                            -0.7655582659366654,
+                            0.6391715723225238,
+                            -0.0053593482039037575
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.04212166368961334,
+                    "position": [
+                        -0.018195864977315068,
+                        -0.015719417424406856,
+                        0.12122119124978781
+                    ],
+                    "orientation": {
+                        "w": 0.09769408505924695,
+                        "xyz": [
+                            -0.7572272016479261,
+                            0.644802929409361,
+                            -0.03594458309668676
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.03461523726582527,
+                    "position": [
+                        0.015846636844798923,
+                        -0.0017633148818276823,
+                        0.12195962574332952
+                    ],
+                    "orientation": {
+                        "w": 0.04142928799383307,
+                        "xyz": [
+                            -0.7487017416958028,
+                            0.6616096054551215,
+                            0.0014304011722677747
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.07091820985078812,
+                    "position": [
+                        -0.010863015661016107,
+                        -0.0015654120943509042,
+                        0.12585572060197592
+                    ],
+                    "orientation": {
+                        "w": 0.07004013096855446,
+                        "xyz": [
+                            0.6597194462589666,
+                            0.7436787090080813,
+                            0.08250218209080594
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.03745873644948006,
+                    "position": [
+                        0.02719634654931724,
+                        0.0027087999624200165,
+                        0.11925391014665365
+                    ],
+                    "orientation": {
+                        "w": 0.023094344644280104,
+                        "xyz": [
+                            0.6176236907272602,
+                            0.7859225224282789,
+                            0.018259699829410378
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom shell",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mouse body from below and the sides during pickup",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the underside to flip or inspect the mouse",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "stabilize the mouse while docking or placing it down",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "support sliding on a desk",
+                "enclose internal components",
+                "provide structural base",
+                "support pickup from below"
+            ],
+            "semantic_description": "Large white plastic lower shell with a smooth slightly matte finish, wrapping the sides and underside as the broad base of the mouse.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_29": {
+                    "confidence": 0.08960490673780441,
+                    "position": [
+                        -0.04638313059695065,
+                        -0.013228259922470897,
+                        -0.11086633149534464
+                    ],
+                    "orientation": {
+                        "w": 0.6765620395517473,
+                        "xyz": [
+                            0.021276625051085768,
+                            0.05576685426251471,
+                            0.7339626487973889
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.08922737836837769,
+                    "position": [
+                        -0.049216798739507794,
+                        -0.012455441930796951,
+                        -0.1078795650973916
+                    ],
+                    "orientation": {
+                        "w": 0.6768838763748015,
+                        "xyz": [
+                            0.018596845023674997,
+                            0.043071805072785074,
+                            0.734593217275221
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.08086451888084412,
+                    "position": [
+                        -0.04922273685224354,
+                        -0.00514574529370293,
+                        -0.10021393094211817
+                    ],
+                    "orientation": {
+                        "w": 0.6744078623173794,
+                        "xyz": [
+                            0.06689075503204858,
+                            0.07595620448532114,
+                            0.731389306139985
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.08008591085672379,
+                    "position": [
+                        -0.03328493540175259,
+                        -0.007104698510374874,
+                        -0.11281586531549692
+                    ],
+                    "orientation": {
+                        "w": 0.6582794724492262,
+                        "xyz": [
+                            0.007277670731686575,
+                            0.010296947015088098,
+                            0.7526680174837099
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.07729846984148026,
+                    "position": [
+                        -0.020300406264141202,
+                        -0.0019502783543430269,
+                        -0.10924571845680475
+                    ],
+                    "orientation": {
+                        "w": 0.6651225404216738,
+                        "xyz": [
+                            -0.005169707324999357,
+                            -0.01732510380552532,
+                            0.7465153187492671
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.07653935253620148,
+                    "position": [
+                        -0.03242639941163361,
+                        0.0023954599746502936,
+                        -0.10647928062826395
+                    ],
+                    "orientation": {
+                        "w": 0.6697737940213426,
+                        "xyz": [
+                            0.033726114200868844,
+                            0.009674822133894256,
+                            0.741735810029315
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "scroll wheel",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scroll content",
+                "provide middle-button input",
+                "support fine finger control",
+                "indicate front-center control location"
+            ],
+            "semantic_description": "Small pink wheel-like control with a smooth slightly glossy finish, recessed near the front center top and shaped as a short rounded roller.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wheel bezel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame the scroll wheel opening",
+                "provide a visual boundary around the wheel recess",
+                "finish the edge around the control cutout"
+            ],
+            "semantic_description": "Thin cream-colored trim surrounding the scroll wheel opening at the front-center top of the mouse, with a smooth finish and narrow elongated oval shape.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "optical sensor window",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "track motion on surfaces",
+                "provide underside sensing",
+                "enable cursor movement",
+                "indicate sensor location"
+            ],
+            "semantic_description": "Small pinkish-red oval window on the underside near the front-center area, set into the base as the mouse's motion sensor area.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Bottom shell color/material and scroll wheel description are incorrect; wheel is ridged purple-pink rubber, base is beige, not white."
+    }
+}

dataset/desktop_supplies/electronic_accessories/a56b50b0cc2d5859a930d4883ed03f27/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a42a04abcf8e09117ecefa5deb8465cd01cf919e8f80f99a3c2e990ba2a20a02
+size 3783632

dataset/desktop_supplies/electronic_accessories/a56b50b0cc2d5859a930d4883ed03f27/mouse_017.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>