Add asset desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab

.gitattributes

@@ -6690,3 +6690,4 @@ dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/affordanc
 dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/affordance/affordance_annot.json

@@ -0,0 +1,163 @@
+{
+    "affordances": [
+        {
+            "part_name": "inner cardboard core",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert parallel gripper fingers into the core opening to pick up or reorient the tape roll",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the inner core to stabilize the roll while dispensing tape",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "support the tape roll",
+                "provide a mounting opening",
+                "enable spindle attachment",
+                "maintain circular shape"
+            ],
+            "semantic_description": "Cylindrical inner core made of light brown cardboard with a matte dry fibrous texture, forming the central hole and supporting the tape roll from the inside.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.6842280030250549,
+                    "position": [
+                        -0.05850900523364544,
+                        0.09386991814244539,
+                        0.029717415454797447
+                    ],
+                    "orientation": {
+                        "w": 0.5123730390585153,
+                        "xyz": [
+                            0.2007451355989715,
+                            0.7695968699165413,
+                            -0.32387639184410194
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9262573719024658,
+                    "position": [
+                        -0.09171009622514248,
+                        0.07455654547084123,
+                        -0.016379822161979973
+                    ],
+                    "orientation": {
+                        "w": 0.24584417580611417,
+                        "xyz": [
+                            0.5842293563892411,
+                            -0.3071843742435262,
+                            0.7098411516500286
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper tape band",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer rim of the roll to pick up the tape",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the upper sidewall to stabilize the roll during dispensing or placement",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide main grip surface",
+                "store adhesive tape in rolled form",
+                "protect inner layers",
+                "enable rolling during dispensing"
+            ],
+            "semantic_description": "Upper half of the translucent mint-green plastic tape roll with a glossy smooth surface, hard slightly compliant feel, circular band shape, and visible droplet-like raised details around the outer side.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_56": {
+                    "confidence": 0.22625888884067535,
+                    "position": [
+                        -0.015790903940796852,
+                        -0.1099933524383232,
+                        0.052681406843476
+                    ],
+                    "orientation": {
+                        "w": 0.5070261791602313,
+                        "xyz": [
+                            -0.8609651611301049,
+                            0.010800550376603435,
+                            -0.03932929033115449
+                        ]
+                    }
+                },
+                "grasp_59": {
+                    "confidence": 0.21737267076969147,
+                    "position": [
+                        -0.10660435818135738,
+                        0.02425446838606149,
+                        0.063757827389054
+                    ],
+                    "orientation": {
+                        "w": 0.30414384622778035,
+                        "xyz": [
+                            -0.5265292824835293,
+                            0.6883816817056003,
+                            -0.39546693386593207
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower tape band",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower outer rim of the roll to lift or move the tape",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "pinch the lower sidewall to stabilize the roll on a work surface",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "provide main grip surface",
+                "store adhesive tape in rolled form",
+                "support contact with surfaces",
+                "enable rolling during dispensing"
+            ],
+            "semantic_description": "Lower half of the translucent mint-green plastic tape roll with a glossy smooth finish, hard slightly compliant texture, cylindrical ring shape, and scattered droplet-like raised bumps on the outer surface.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_38": {
+                    "confidence": 0.12822410464286804,
+                    "position": [
+                        0.057641325518488884,
+                        -0.030348860542289913,
+                        -0.10112203855533153
+                    ],
+                    "orientation": {
+                        "w": 0.7958527813331046,
+                        "xyz": [
+                            -0.20250004135180938,
+                            -0.13172052722733052,
+                            0.5552132801039898
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a40a20eefb8e8ae68147ba1b1f1b5092fd2d5f32633785c7e1ba12305e308948
+size 3783252

dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/scotch_tape_006.urdf

@@ -54,6 +54,7 @@
                <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>