Add asset desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede

.gitattributes

@@ -6206,3 +6206,4 @@ dataset/desktop_supplies/electronic_accessories/3dad4b98f2945f9b95697f3dbb21b3ad
 dataset/desktop_supplies/electronic_accessories/486da1b9fbc95785a367c3086d36eaf1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/46dee8f02ac7599aa5905a014752b1b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/486e664b896a5eb5bf7e81ac2beb4765/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/affordance/affordance_annot.json

@@ -0,0 +1,302 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper mouse shell",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mouse body from the sides and top shell to pick it up",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the top shell to reposition the mouse on a desk",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "stabilize the mouse body while inspecting or cleaning it",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "cover internal components",
+                "support hand contact",
+                "provide left and right click surface",
+                "define mouse shape"
+            ],
+            "semantic_description": "Large light pink plastic upper shell with a smooth matte-to-satin finish, rounded ergonomic shape, and split front button area, covering most of the top and upper sides of the mouse.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.35130393505096436,
+                    "position": [
+                        -0.1086613277439028,
+                        0.03487524640513584,
+                        0.07184561982285231
+                    ],
+                    "orientation": {
+                        "w": 0.35659104466248903,
+                        "xyz": [
+                            0.6183032835419878,
+                            0.6934741512869705,
+                            0.0981706571462511
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.2869294285774231,
+                    "position": [
+                        -0.08799626328982413,
+                        0.008559410169254988,
+                        0.09354086860548705
+                    ],
+                    "orientation": {
+                        "w": 0.19214686588340002,
+                        "xyz": [
+                            0.6974721743270222,
+                            0.6686022807301656,
+                            0.1719974946711232
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.26713189482688904,
+                    "position": [
+                        -0.08124404796399176,
+                        0.008305302530061454,
+                        0.0904177714837715
+                    ],
+                    "orientation": {
+                        "w": 0.1887830261869406,
+                        "xyz": [
+                            0.7008498817526856,
+                            0.6690047051473843,
+                            0.16000973958359171
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.2652937173843384,
+                    "position": [
+                        -0.13630259432829916,
+                        0.014296786568593234,
+                        0.05698332085739821
+                    ],
+                    "orientation": {
+                        "w": 0.4001761611483778,
+                        "xyz": [
+                            0.6040253098429694,
+                            0.6260024429310619,
+                            0.28832864332562425
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.26207056641578674,
+                    "position": [
+                        -0.09010914363898337,
+                        -0.016312605992425233,
+                        0.09136111929547042
+                    ],
+                    "orientation": {
+                        "w": 0.23629085460712818,
+                        "xyz": [
+                            -0.6875206166052003,
+                            0.6701701791615658,
+                            -0.14951242334465964
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.26206547021865845,
+                    "position": [
+                        -0.08250156440772116,
+                        -0.002421606157440692,
+                        0.0918908704770729
+                    ],
+                    "orientation": {
+                        "w": 0.17605038184947497,
+                        "xyz": [
+                            0.6866867358830666,
+                            0.6806929639951044,
+                            0.1847286620437492
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.26043328642845154,
+                    "position": [
+                        -0.07753067859448493,
+                        -0.012880183116067201,
+                        0.09440527751576155
+                    ],
+                    "orientation": {
+                        "w": 0.22120898692926527,
+                        "xyz": [
+                            -0.6661633116844106,
+                            0.6986786816651798,
+                            -0.1383514584454883
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.25232407450675964,
+                    "position": [
+                        -0.09515667357482016,
+                        0.006669598806183785,
+                        0.08976886316668242
+                    ],
+                    "orientation": {
+                        "w": 0.18877601591100115,
+                        "xyz": [
+                            -0.6723442970523112,
+                            0.6812231644024273,
+                            -0.21966283782093562
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.24004514515399933,
+                    "position": [
+                        -0.07262670644558966,
+                        0.004505473363678902,
+                        0.08882257982622832
+                    ],
+                    "orientation": {
+                        "w": 0.1722679083366253,
+                        "xyz": [
+                            0.6929274403701662,
+                            0.6791042824861653,
+                            0.17027243948544454
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.21235038340091705,
+                    "position": [
+                        -0.06936552026309073,
+                        -0.010358417697716504,
+                        0.0912928496254608
+                    ],
+                    "orientation": {
+                        "w": 0.18801950311031487,
+                        "xyz": [
+                            -0.6845073542003007,
+                            0.694356191229587,
+                            -0.11818556678797781
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.20708104968070984,
+                    "position": [
+                        -0.05637008720077574,
+                        0.022030432417523116,
+                        0.09594392671715468
+                    ],
+                    "orientation": {
+                        "w": 0.14312768783272248,
+                        "xyz": [
+                            0.6630973881650573,
+                            0.7344898493619562,
+                            -0.018465642923789525
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.2045622318983078,
+                    "position": [
+                        -0.06821567215956748,
+                        -0.011711877130437642,
+                        0.09061019017826766
+                    ],
+                    "orientation": {
+                        "w": 0.13620943432943589,
+                        "xyz": [
+                            0.6752142719408862,
+                            0.6953660514895307,
+                            0.20493592023570098
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.20117947459220886,
+                    "position": [
+                        -0.06173660256899893,
+                        -0.003626207646448165,
+                        0.10044735565315932
+                    ],
+                    "orientation": {
+                        "w": 0.12131436676662291,
+                        "xyz": [
+                            0.7008637320994104,
+                            0.6867438293004304,
+                            0.14985248199973222
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower mouse body/base",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the underside edges to lift the mouse during flipping or inspection",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the base to stabilize the mouse while servicing or cleaning",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "support sliding on a desk",
+                "form the underside structure",
+                "protect internal components from below",
+                "provide stable contact surface"
+            ],
+            "semantic_description": "Light gray to white plastic lower body and underside with a smooth hard finish, broad oval footprint, and curved lower sidewalls wrapping around the base.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_35": {
+                    "confidence": 0.12080087512731552,
+                    "position": [
+                        -0.11933998414315283,
+                        0.013320434547495097,
+                        -0.06146478757727891
+                    ],
+                    "orientation": {
+                        "w": 0.6732733243829561,
+                        "xyz": [
+                            -0.2510504612858649,
+                            0.3694649335802074,
+                            -0.589213339476501
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "control inputs",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scroll content",
+                "receive middle-click input",
+                "provide auxiliary side-button input",
+                "enable user command input"
+            ],
+            "semantic_description": "Small control elements in mixed colors and finishes, including a black ribbed central scroll wheel near the front top, a light gray top button behind it, and dark narrow side buttons on the mouse flank.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Control-input part merges wheel and buttons; description wrongly says gray top button and dark side buttons despite silver side plate and light side buttons."
+    }
+}

dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2080023ecc2c5dec9c7a7cc9cc439edd80a7a1ec7593f80fbe8d4e2a934ebbe5
+size 3794204

dataset/desktop_supplies/electronic_accessories/48a4343795c75e3d8c408930bc70eede/mouse_016.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>NO: {"summary":"Top shell and lower shell are mostly separated, but Olive mixes unrelated controls and side inserts into one color.","merge_groups":[]}</PartSegChecker>