Add asset desktop_supplies/electronic_accessories/c89c4c828a625933a0beb1948aa805d0

.gitattributes

@@ -8122,3 +8122,4 @@ dataset/desktop_supplies/electronic_accessories/c1c99a417cd75e038b7f58a38ba7fa11
 dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c412c4fb919a5d4eb11f6ee884850a8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/c89c4c828a625933a0beb1948aa805d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/c89c4c828a625933a0beb1948aa805d0/affordance/affordance_annot.json

@@ -0,0 +1,212 @@
+{
+    "affordances": [
+        {
+            "part_name": "mouse body shell",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mouse body from the sides to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the mouse body to reposition it on a desk",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the mouse by holding the body during inspection or setup",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "enclose internal electronics",
+                "provide overall structure",
+                "protect internal components",
+                "support hand placement"
+            ],
+            "semantic_description": "Large light beige plastic outer shell with a smooth matte finish and rounded asymmetrical pebble-like shape, forming most of the mouse body including the sides, top rear, and bottom housing.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9829172492027283,
+                    "position": [
+                        -0.011742389528080821,
+                        -0.11791541241109371,
+                        -0.002731042797677219
+                    ],
+                    "orientation": {
+                        "w": 0.49573233982786735,
+                        "xyz": [
+                            -0.5175943976520159,
+                            -0.4761183106001824,
+                            -0.5095653452495206
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.982288122177124,
+                    "position": [
+                        0.0053814740385860205,
+                        -0.11967778764665127,
+                        -0.007123054703697562
+                    ],
+                    "orientation": {
+                        "w": 0.5537055383181478,
+                        "xyz": [
+                            -0.5188879631829956,
+                            -0.46117168896825766,
+                            -0.45987621355510067
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.98223876953125,
+                    "position": [
+                        -0.014835484093055129,
+                        -0.11791465245187283,
+                        -0.0066486012656241655
+                    ],
+                    "orientation": {
+                        "w": 0.5414731832965943,
+                        "xyz": [
+                            -0.47789823593573644,
+                            0.495795188975399,
+                            0.4822936848529252
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.981812059879303,
+                    "position": [
+                        -0.013587307883426547,
+                        -0.11756560020148754,
+                        -0.0068142537493258715
+                    ],
+                    "orientation": {
+                        "w": 0.5421570692281464,
+                        "xyz": [
+                            -0.4847640266896153,
+                            0.48814821553830934,
+                            0.48247369915921945
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9815874695777893,
+                    "position": [
+                        0.0002556724939495325,
+                        0.12327502854168415,
+                        -0.0008796912152320147
+                    ],
+                    "orientation": {
+                        "w": 0.5079554362706077,
+                        "xyz": [
+                            0.49753307474003794,
+                            0.49677237551429143,
+                            -0.4976538166524474
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9809613823890686,
+                    "position": [
+                        0.0040883084293454885,
+                        0.12164799310266972,
+                        0.003824590938165784
+                    ],
+                    "orientation": {
+                        "w": 0.49226949481804255,
+                        "xyz": [
+                            0.5194738994689264,
+                            0.49487886979025053,
+                            -0.4928615591393401
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9795010685920715,
+                    "position": [
+                        0.10470259399153292,
+                        -0.015957167372107506,
+                        -0.017340925754979253
+                    ],
+                    "orientation": {
+                        "w": 0.06779171323307577,
+                        "xyz": [
+                            -0.6308467813837912,
+                            0.030981492655500764,
+                            0.7723190850597131
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9783703684806824,
+                    "position": [
+                        -0.005836297525092959,
+                        0.12291752733290195,
+                        0.0160340319853276
+                    ],
+                    "orientation": {
+                        "w": 0.4512311133213137,
+                        "xyz": [
+                            0.4709881556784118,
+                            0.5893941051621261,
+                            -0.47662902595372014
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9780572056770325,
+                    "position": [
+                        0.10574395419098437,
+                        -0.005481798201799393,
+                        -0.004605708410963416
+                    ],
+                    "orientation": {
+                        "w": 0.045208135271547024,
+                        "xyz": [
+                            -0.6961101650410737,
+                            0.010353436503929392,
+                            0.7164353906559316
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top button strip",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "houses primary top button area",
+                "finger contact surface",
+                "surround the scroll wheel opening",
+                "define top control area"
+            ],
+            "semantic_description": "Small light beige plastic strip with a smooth matte finish, elongated and narrow along the top center-front of the mouse, surrounding the scroll wheel and containing the nearby small top button area.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "scroll wheel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scroll",
+                "middle click input",
+                "fine navigation control",
+                "provide tactile rolling input"
+            ],
+            "semantic_description": "Tiny gold wheel with a ridged textured surface and semi-recessed cylindrical form, located centrally within the top button strip near the front of the mouse.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/c89c4c828a625933a0beb1948aa805d0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a94a4094db865f393053527fc2ea0b46f1de8ed06b024bfcf1aec07bcf21111f
+size 3779632

dataset/desktop_supplies/electronic_accessories/c89c4c828a625933a0beb1948aa805d0/mouse_007.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>