Add asset desktop_supplies/electronic_accessories/eba77d741d4f51009e6b7df90fb99f2b

.gitattributes

@@ -8145,3 +8145,4 @@ dataset/desktop_supplies/electronic_accessories/e37dd0be37065bc18505c6edfd159982
 dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e769ea6364175420ba67a4e64f29eb60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e9e176a4afb455498d89858533410a5a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/eba77d741d4f51009e6b7df90fb99f2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/eba77d741d4f51009e6b7df90fb99f2b/affordance/affordance_annot.json

@@ -0,0 +1,85 @@
+{
+    "affordances": [
+        {
+            "part_name": "mouse body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the mouse body from the sides to pick up and move the mouse",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the mouse body to reposition or place it on a surface",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the mouse body while accessing the underside or cable area",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "enclose internal electronics",
+                "support hand placement",
+                "provide overall structure",
+                "enable sliding across a desk"
+            ],
+            "semantic_description": "Smooth hard plastic shell in light gray to white with a matte to satin finish, rounded asymmetrical low-profile shape, medium-sized and forming nearly the entire outer body of the mouse.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_11": {
+                    "confidence": 0.9786615371704102,
+                    "position": [
+                        0.134544069878757,
+                        0.029798246803693473,
+                        -0.03385453228838742
+                    ],
+                    "orientation": {
+                        "w": 0.784348917997573,
+                        "xyz": [
+                            0.07995428819569801,
+                            -0.6091934317162748,
+                            0.08536655896136662
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9777849912643433,
+                    "position": [
+                        0.13716412615031004,
+                        0.020908178645186126,
+                        -0.02506069024093449
+                    ],
+                    "orientation": {
+                        "w": 0.7661127222039325,
+                        "xyz": [
+                            0.03278334318420756,
+                            -0.6412408381239861,
+                            0.02840311266384276
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "scroll wheel",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "scroll content",
+                "middle-click input",
+                "provide tactile finger control",
+                "indicate top-side interaction area"
+            ],
+            "semantic_description": "Small dark gray wheel-like insert near the top center/front, likely plastic or rubber with a mostly smooth finish, slightly recessed and much smaller than the surrounding mouse shell.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/eba77d741d4f51009e6b7df90fb99f2b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca84a65f1be5afbbd986fc1bfdccbd0f4e689cb117c7f26b73ef4457a60d9935
+size 1701096

dataset/desktop_supplies/electronic_accessories/eba77d741d4f51009e6b7df90fb99f2b/eba77d741d4f51009e6b7df90fb99f2b.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>