Add asset desktop_supplies/electronic_accessories/1729ca28a58e5dce888f76fb1a6c58a4

.gitattributes

@@ -6185,3 +6185,4 @@ dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a
 dataset/desktop_supplies/electronic_accessories/1326d5ced1b95d3bb032bcfdabc751bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/1597392805095b5caf9107e8dd6ec71a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/1729ca28a58e5dce888f76fb1a6c58a4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/1729ca28a58e5dce888f76fb1a6c58a4/1729ca28a58e5dce888f76fb1a6c58a4.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>

dataset/desktop_supplies/electronic_accessories/1729ca28a58e5dce888f76fb1a6c58a4/affordance/affordance_annot.json

@@ -0,0 +1,133 @@
+{
+    "affordances": [
+        {
+            "part_name": "keyboard case",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the keyboard case from the left and right sides to lift and relocate the keyboard",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the case edges to stabilize the keyboard during cable connection or inspection",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "pick up the keyboard by clamping the front and back edges of the housing",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support internal components",
+                "provide main structural body",
+                "stabilize the keyboard on a desk",
+                "protect the switches and electronics",
+                "main grasp surface for relocation"
+            ],
+            "semantic_description": "Large off-white or cream plastic housing with a smooth hard surface, wedge-shaped and enclosing the entire keyboard, with plain sides and a raised rear profile.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9668366312980652,
+                    "position": [
+                        0.009922611527144909,
+                        -0.19475244591012597,
+                        -0.00598658830858767
+                    ],
+                    "orientation": {
+                        "w": 0.4597571907409006,
+                        "xyz": [
+                            -0.4633390265648924,
+                            0.5320130027063289,
+                            0.5393537215736337
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9664826989173889,
+                    "position": [
+                        0.008017503656446934,
+                        -0.19509325036779046,
+                        -0.007568408036604524
+                    ],
+                    "orientation": {
+                        "w": 0.4611288323235979,
+                        "xyz": [
+                            -0.4524854314776754,
+                            0.541214344454636,
+                            0.5382417371933137
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9645415544509888,
+                    "position": [
+                        0.012320690788328648,
+                        -0.19259206065908074,
+                        -0.005338929244317114
+                    ],
+                    "orientation": {
+                        "w": 0.4545727797784655,
+                        "xyz": [
+                            -0.4568125324659653,
+                            0.540477872819653,
+                            0.5408970022646212
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9639056921005249,
+                    "position": [
+                        -9.066518396139145e-05,
+                        -0.19712322065606713,
+                        -0.004138082091230899
+                    ],
+                    "orientation": {
+                        "w": 0.5272030680125255,
+                        "xyz": [
+                            -0.5369762004853901,
+                            -0.464341086393535,
+                            -0.46701267721264944
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9634220004081726,
+                    "position": [
+                        0.011850296519696712,
+                        -0.1964501948095858,
+                        -0.0010736833792179823
+                    ],
+                    "orientation": {
+                        "w": 0.4463053080362403,
+                        "xyz": [
+                            -0.4621229796747705,
+                            0.5448568407460819,
+                            0.5388737762847496
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "modifier and highlighted keycaps",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide typing input surfaces",
+                "trigger key switches when pressed",
+                "group modifier or special keys around the keyboard perimeter",
+                "highlight a few important keys with contrasting colors"
+            ],
+            "semantic_description": "A small set of keycaps distinct from the main white alphanumeric keys, including several dark gray or black keys around the top row and side edges plus one larger orange key near the lower right; plastic with smooth tops and compact rectangular shapes.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red mask marks external accent/port features, not keycaps; part identity and description mismatch."
+    }
+}

dataset/desktop_supplies/electronic_accessories/1729ca28a58e5dce888f76fb1a6c58a4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bf302ff546af3629d95fc1fac095fd1c679c55515db9c32280c0313913df4fd
+size 2083340