Add asset food/snack/dabf601448aa59f580418c87ad1902de

.gitattributes

@@ -6892,4 +6892,4 @@ dataset/food/snack/c8ea14aadc6d595e9bf3dbd86fef7866/affordance/mesh_part_seg.glb
 dataset/food/snack/d30f92d30c70597a917062e5793b52b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/b80f9d5023f6516393cd15d77d561070/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/d7879e73e54754d995ab4d2f9e5360a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/db544914ba9d53a39fdea85760cd2737/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/dabf601448aa59f580418c87ad1902de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/dabf601448aa59f580418c87ad1902de/affordance/affordance_annot.json

@@ -0,0 +1,216 @@
+{
+    "affordances": [
+        {
+            "part_name": "wrapper body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the center of the wrapped chocolate bar to pick it up",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the wrapper body to stabilize the bar during placement",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "pinch the wrapper body to reorient the packaged chocolate",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain the chocolate",
+                "main grasp surface",
+                "protect the food",
+                "provide printed branding surface",
+                "support handling and transport"
+            ],
+            "semantic_description": "Long rectangular dark-brown plastic wrapper body with a glossy smooth slightly crinkled surface, covering most of the bar and printed with large white-and-red branding and peanut graphics.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8674413561820984,
+                    "position": [
+                        0.0811862405971624,
+                        0.05769012338714674,
+                        0.0013480007910402492
+                    ],
+                    "orientation": {
+                        "w": 0.2168766269526354,
+                        "xyz": [
+                            0.6880549114204638,
+                            0.19680387595295612,
+                            -0.6639376491521767
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.8630093336105347,
+                    "position": [
+                        0.07602968631545082,
+                        -0.060754252306651324,
+                        0.010948767259833403
+                    ],
+                    "orientation": {
+                        "w": 0.24581055025679516,
+                        "xyz": [
+                            -0.7135653579006731,
+                            0.20731038339165708,
+                            0.6224339790889796
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.8560494780540466,
+                    "position": [
+                        -0.002070160990115255,
+                        0.10564119584159926,
+                        0.0032824509107740596
+                    ],
+                    "orientation": {
+                        "w": 0.4610829397973269,
+                        "xyz": [
+                            0.4620047776511489,
+                            -0.5426350089763462,
+                            0.5286788770970594
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8558474183082581,
+                    "position": [
+                        0.04135968355694786,
+                        -0.09269733511609957,
+                        0.00010789281805045903
+                    ],
+                    "orientation": {
+                        "w": 0.39667007894426987,
+                        "xyz": [
+                            -0.6162598703467714,
+                            0.3497827610349892,
+                            0.5835483191247035
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.8546724319458008,
+                    "position": [
+                        0.0839534085826017,
+                        0.049147373356390744,
+                        0.013710065119084902
+                    ],
+                    "orientation": {
+                        "w": 0.6298895512810327,
+                        "xyz": [
+                            0.16391977360318294,
+                            -0.7320802047703471,
+                            0.20106723948039654
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8461617231369019,
+                    "position": [
+                        -0.003536506264936179,
+                        0.10277641034917906,
+                        0.005339087758329697
+                    ],
+                    "orientation": {
+                        "w": 0.5293083126827408,
+                        "xyz": [
+                            0.5548198480800824,
+                            0.4690724270098584,
+                            -0.4381537453000095
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8458618521690369,
+                    "position": [
+                        0.04345967440167442,
+                        0.0911900348146446,
+                        0.012258765593287535
+                    ],
+                    "orientation": {
+                        "w": 0.38441443856682034,
+                        "xyz": [
+                            0.670887451334609,
+                            0.32559585572147254,
+                            -0.544171761303461
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "sealed wrapper end",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a sealed end to lift or drag the wrapped chocolate",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold one end while opening the package",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp the end flap to orient the bar before placing it down",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "seal the package",
+                "enable opening from an end",
+                "retain contents",
+                "provide a pinch point"
+            ],
+            "semantic_description": "Small crimped sealed end flap at one side of the bar, made of dark-brown wrapper film with ribbed sealing edges and a folded shape.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "sealed wrapper edge strip",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch the outer edge strip while starting to tear open the wrapper",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "use the edge strip as a light stabilizing hold during manipulation",
+                    "confidence": 0.33
+                }
+            ],
+            "functional_labels": [
+                "edge sealing",
+                "help start opening",
+                "retain wrapper shape",
+                "mark package boundary"
+            ],
+            "semantic_description": "Very thin outermost edge strip along one sealed end boundary, visible as the narrow crimped margin at the package edge.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wrapper seam band",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce seal area",
+                "separate body from end seal",
+                "help define opening boundary"
+            ],
+            "semantic_description": "Thin narrow band immediately inside one sealed end, visible as a slim band between the main wrapper body and the crimped edge near the package end.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/snack/dabf601448aa59f580418c87ad1902de/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c64b8e5e5b8c8a873b0b8a7d08417c35cb11e97861bfe3f255d07c096e00467d
+size 3782016

dataset/food/snack/dabf601448aa59f580418c87ad1902de/chocolate_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>