Add asset desktop_supplies/office_stationery/fd6c4e09af6952b3982c1cc2481072e5

.gitattributes

@@ -8223,3 +8223,4 @@ dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/affo
 dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/fd05d92d289d5d54a4fdd2fe2ec7d9b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/fd6c4e09af6952b3982c1cc2481072e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/fd6c4e09af6952b3982c1cc2481072e5/affordance/affordance_annot.json

@@ -0,0 +1,255 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer case",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer case to pick up and move the correction tape dispenser",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the outer case to stabilize the dispenser while applying tape",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp near the pointed front of the case to orient the tape tip toward the surface",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "enclose internal mechanism",
+                "provide main grasp surface",
+                "protect tape and gears",
+                "support dispensing alignment"
+            ],
+            "semantic_description": "Teardrop-shaped transparent light-blue plastic shell with a glossy smooth surface, forming the largest outer body and a pointed dispensing end around the internal reels.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9409560561180115,
+                    "position": [
+                        -0.024574048613430932,
+                        0.052809839602559805,
+                        -0.08444743505970109
+                    ],
+                    "orientation": {
+                        "w": 0.951514791859516,
+                        "xyz": [
+                            0.2620549819974606,
+                            0.08404281230363986,
+                            0.1374175861487434
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9350597262382507,
+                    "position": [
+                        0.008909995871363208,
+                        -0.0468489252962172,
+                        0.0822681719873799
+                    ],
+                    "orientation": {
+                        "w": 0.280000979651436,
+                        "xyz": [
+                            -0.955075383824587,
+                            -0.0935617572451658,
+                            0.026012692820047235
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9286183714866638,
+                    "position": [
+                        0.005308914667693898,
+                        -0.058035767171531916,
+                        0.08002801336988341
+                    ],
+                    "orientation": {
+                        "w": 0.30241310036156144,
+                        "xyz": [
+                            -0.9524791946397612,
+                            -0.03239215999823125,
+                            0.0167465960346905
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9170258641242981,
+                    "position": [
+                        0.01161459760623984,
+                        -0.10609739879146218,
+                        -0.0057227829965995625
+                    ],
+                    "orientation": {
+                        "w": 0.7273882228315207,
+                        "xyz": [
+                            -0.6840543729026164,
+                            -0.03613355929394335,
+                            0.04086996564179298
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9017603993415833,
+                    "position": [
+                        0.009138297493336722,
+                        -0.10843109944835305,
+                        -0.0015673433226766065
+                    ],
+                    "orientation": {
+                        "w": 0.0709909569650823,
+                        "xyz": [
+                            0.01218129680668444,
+                            -0.7066484779686235,
+                            -0.703889074089034
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9009982347488403,
+                    "position": [
+                        0.02930182425188832,
+                        -0.08565387735143304,
+                        0.053339608988608234
+                    ],
+                    "orientation": {
+                        "w": 0.4745126550538856,
+                        "xyz": [
+                            -0.8535046144717483,
+                            -0.21133760537269863,
+                            0.04127989612969506
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8993112444877625,
+                    "position": [
+                        -0.03283853063476272,
+                        0.1119817509315908,
+                        -0.0027807312580989674
+                    ],
+                    "orientation": {
+                        "w": 0.7050774704163478,
+                        "xyz": [
+                            0.6932512010126255,
+                            0.08844451717668411,
+                            0.12019193145639791
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8990803956985474,
+                    "position": [
+                        0.012680771964369342,
+                        -0.09549219021573663,
+                        -0.044155119874631055
+                    ],
+                    "orientation": {
+                        "w": 0.8428401734462059,
+                        "xyz": [
+                            -0.5276873275717221,
+                            -0.008001074043855083,
+                            0.10536844479980208
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.882845938205719,
+                    "position": [
+                        0.028710399026749656,
+                        -0.09703476587310433,
+                        0.04874308504804503
+                    ],
+                    "orientation": {
+                        "w": 0.07674847565248788,
+                        "xyz": [
+                            0.10771826499021112,
+                            -0.8531863273603352,
+                            -0.5045587554268594
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8786466121673584,
+                    "position": [
+                        -0.024694617633940652,
+                        0.12302240123972297,
+                        -0.004676132419263013
+                    ],
+                    "orientation": {
+                        "w": 0.7080780557097157,
+                        "xyz": [
+                            0.6949200485498557,
+                            0.017588602314393076,
+                            0.12410573803995166
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.87339848279953,
+                    "position": [
+                        -0.04457835460198112,
+                        0.10333936801180243,
+                        -0.001136958904680796
+                    ],
+                    "orientation": {
+                        "w": 0.6929064076353428,
+                        "xyz": [
+                            0.6877406319034706,
+                            0.0808683669407203,
+                            0.200882654092481
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "supply reel",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store unused correction tape",
+                "feed tape through the dispenser",
+                "serve as the primary supply spool"
+            ],
+            "semantic_description": "Smaller white plastic reel with a central hub and gear-like toothed outer edge, positioned toward the pointed front section inside the transparent case.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "take-up reel",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "wind used backing tape",
+                "maintain tape tension",
+                "transfer tape during dispensing"
+            ],
+            "semantic_description": "Large circular spool visible through the transparent housing, covered on one face by a white printed label with black text and small red markings, located in the rounded wider half of the dispenser.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "guide gear",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide tape path",
+                "transmit motion between reels",
+                "stabilize internal mechanism"
+            ],
+            "semantic_description": "Very small pale white to light-blue plastic gear with a toothed edge, located between the two larger reels near the front-middle of the dispenser.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Internal parts are misidentified; supply and take-up reels are swapped relative to visible positions and sizes."
+    }
+}

dataset/desktop_supplies/office_stationery/fd6c4e09af6952b3982c1cc2481072e5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a66b4b3d086de2a114c328be06889b852e800e780aa64f01b0b27d9eadaf6568
+size 3766032

dataset/desktop_supplies/office_stationery/fd6c4e09af6952b3982c1cc2481072e5/correction_tape_016.urdf

@@ -58,6 +58,7 @@
                <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>NO: {"summary":"Different internal components are merged and some boundaries do not match functional parts.","merge_groups":[]}</PartSegChecker>