Add asset desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990

.gitattributes

@@ -8162,3 +8162,4 @@ dataset/desktop_supplies/office_stationery/024d2abe4a7556e1bc0275e38d9d3750/affo
 dataset/desktop_supplies/office_stationery/03d73bac73445546afe65d9b5912808e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/04d0d7361d6e5282b4d2d779e5c53ab1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/affordance/affordance_annot.json

@@ -0,0 +1,236 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer housing",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the correction tape dispenser",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the housing to stabilize the dispenser while applying tape",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "enclose internal mechanism",
+                "support internal parts",
+                "provide handhold for positioning"
+            ],
+            "semantic_description": "Large black plastic outer body with a smooth slightly glossy finish and teardrop-like shape, forming most of the correction tape dispenser around the reel and front tip; one side is transparent enough to show the internal reels.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9554255604743958,
+                    "position": [
+                        0.11196371495316271,
+                        -0.018069293815642595,
+                        -0.012714170348772313
+                    ],
+                    "orientation": {
+                        "w": 0.07368277351479173,
+                        "xyz": [
+                            -0.6737226780015723,
+                            0.007833379091913728,
+                            0.7352599813709162
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9553800225257874,
+                    "position": [
+                        -0.08221762299945112,
+                        -0.09796576062217355,
+                        -0.016175208111235406
+                    ],
+                    "orientation": {
+                        "w": 0.723868612942295,
+                        "xyz": [
+                            -0.1873006639588526,
+                            0.6317976088307273,
+                            0.20436358274738253
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9546235203742981,
+                    "position": [
+                        0.07368835389206652,
+                        -0.11603256920352578,
+                        0.010807360093167517
+                    ],
+                    "orientation": {
+                        "w": 0.5990678116755128,
+                        "xyz": [
+                            -0.22985814030622087,
+                            -0.7136051372509455,
+                            -0.28115956401719383
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9542629718780518,
+                    "position": [
+                        0.07291460364649538,
+                        -0.11230438807979226,
+                        0.009071679356566165
+                    ],
+                    "orientation": {
+                        "w": 0.620418246425124,
+                        "xyz": [
+                            -0.21042712023770754,
+                            -0.7136310142538626,
+                            -0.24805725562104253
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9536654353141785,
+                    "position": [
+                        0.0786288636882091,
+                        -0.1114641041494906,
+                        0.007523998654505704
+                    ],
+                    "orientation": {
+                        "w": 0.2926272480403647,
+                        "xyz": [
+                            -0.7318396655577377,
+                            0.14658937688938378,
+                            0.5977386989344453
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9531912207603455,
+                    "position": [
+                        0.1098376768786693,
+                        -0.025982767809182405,
+                        -0.01053983854217222
+                    ],
+                    "orientation": {
+                        "w": 0.7202564555056815,
+                        "xyz": [
+                            -0.03838985706310822,
+                            -0.6860749972887852,
+                            -0.09517329075039774
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9501229524612427,
+                    "position": [
+                        -0.05963423520734068,
+                        -0.13094217190518975,
+                        -0.008312372920045163
+                    ],
+                    "orientation": {
+                        "w": 0.6382679557708745,
+                        "xyz": [
+                            -0.3011710592291944,
+                            0.6217482062316622,
+                            0.3396162212947803
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9499012231826782,
+                    "position": [
+                        0.0737673374969745,
+                        -0.1132970959879458,
+                        -0.010162558835872915
+                    ],
+                    "orientation": {
+                        "w": 0.2479836133329578,
+                        "xyz": [
+                            -0.6588843579622011,
+                            0.2160980236484018,
+                            0.6765184214242235
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "application tip",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "apply correction tape",
+                "guide tape onto paper",
+                "provide dispensing edge",
+                "define application direction"
+            ],
+            "semantic_description": "Small pointed dark gray plastic tip at the front, with a hard smooth slightly glossy surface and wedge-like shape protruding from the housing.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "supply reel",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store correction tape",
+                "feed correction tape through the mechanism",
+                "enable tape payout",
+                "support winding"
+            ],
+            "semantic_description": "Large circular off-white tape spool inside the case, with a flat layered wound surface and central opening, located in the wider rounded end of the dispenser.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "take-up reel",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "receive used backing tape",
+                "advance internal tape path",
+                "support tape transport",
+                "rotate during dispensing"
+            ],
+            "semantic_description": "Medium circular dark gray to black reel near the narrower side of the housing, with a smooth slightly glossy plastic appearance.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "reel hub",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide rotation axis",
+                "center the spool",
+                "support reel mounting",
+                "maintain internal alignment"
+            ],
+            "semantic_description": "Small circular dark hub at the center of the visible reel, appearing as a recessed round feature within the off-white spool.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hub ring",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "surround hub interface",
+                "help retain rotating parts",
+                "maintain axle alignment",
+                "separate central hub from spool body"
+            ],
+            "semantic_description": "Thin blue-coded ring in the mask around the reel center, corresponding to a narrow circular border surrounding the central hub area.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts have wrong mask colors/identities and descriptions rely on mask color, not RGB appearance."
+    }
+}

dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e36b2f6275d46a1a3f1e58752a3434f41824245f71483a537ed866cbcccb78e
+size 3784656

dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/correction_tape_001.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>
       <quality>
          <PartSegChecker>YES</PartSegChecker>