Add asset desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16

.gitattributes

@@ -6184,3 +6184,4 @@ dataset/desktop_supplies/electronic_accessories/0ac20a9784e55ee2bbf2f9eefcb3251c
 dataset/desktop_supplies/electronic_accessories/0c4b6ddbac8a58a0a61fbf3823d8691a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/16abbf17a76153d7b1ffa8d2672f7a16/16abbf17a76153d7b1ffa8d2672f7a16.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.283049583435059</ImageAestheticChecker>
          <overall>NO</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>2</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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/16abbf17a76153d7b1ffa8d2672f7a16/affordance/affordance_annot.json

@@ -0,0 +1,101 @@
+{
+    "affordances": [
+        {
+            "part_name": "keyboard frame",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the keyboard body from the side edges to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the outer frame to reposition the keyboard on a desk",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "stabilize the keyboard by clamping the body during maintenance",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support the keys",
+                "form the main structure",
+                "provide a graspable outer body",
+                "rest on a desk",
+                "protect internal components"
+            ],
+            "semantic_description": "Dark gray to black plastic outer body with a matte slightly smooth hard surface, broad gently curved ergonomic shape, and full-size footprint forming the keyboard's base and side edges.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_15": {
+                    "confidence": 0.9519359469413757,
+                    "position": [
+                        -0.023727134568616748,
+                        0.17105427768547088,
+                        0.0032721953466534615
+                    ],
+                    "orientation": {
+                        "w": 0.4760584293859872,
+                        "xyz": [
+                            0.423927492330864,
+                            0.5793392410785164,
+                            -0.5079565894869174
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9296547174453735,
+                    "position": [
+                        -0.011683712480589747,
+                        0.17068738129455596,
+                        0.0038646585308015347
+                    ],
+                    "orientation": {
+                        "w": 0.43685913645223234,
+                        "xyz": [
+                            0.44751463624711285,
+                            0.5658810483172758,
+                            -0.5372740310104002
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9228652715682983,
+                    "position": [
+                        -0.011710800928995013,
+                        0.17040668812114745,
+                        0.003920972812920809
+                    ],
+                    "orientation": {
+                        "w": 0.45075729801337944,
+                        "xyz": [
+                            0.46282434323794963,
+                            0.5520990583774712,
+                            -0.5270655702403152
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "keycaps",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "input typing commands",
+                "press individual keys",
+                "provide labeled control surfaces",
+                "trigger keyboard switches"
+            ],
+            "semantic_description": "Numerous small dark gray to black plastic keycaps with a matte hard smooth finish, slightly raised rectangular tops, and faint printed legends arranged across the top of the keyboard.",
+            "id": 21,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:809687b670a1451ec9ffe9cf5042ce77e96ddd81cbe84012e0bf4c131930041b
+size 1047084