Add asset food/snack/a6a1dbf0ecec511aaae0221ce93e083d

.gitattributes

@@ -6882,4 +6882,4 @@ dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/affordance/mesh_part_seg.glb
 dataset/food/snack/8dd5b13c60825d9f8e872cd61d46e80a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/a0d8ca01396056c3a5af46497e3e56f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/a6a1dbf0ecec511aaae0221ce93e083d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/a6a1dbf0ecec511aaae0221ce93e083d/affordance/affordance_annot.json

@@ -0,0 +1,109 @@
+{
+    "affordances": [
+        {
+            "part_name": "carton body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up the carton",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening the top",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp the body for placing or transporting the package",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain biscuits",
+                "provide main structural enclosure",
+                "support stacking and placement",
+                "main grasp surface",
+                "display product information"
+            ],
+            "semantic_description": "Large tapered paperboard carton body in light beige with a matte smooth surface, broad flat faces, and printed product graphics/logos on the exterior.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top handle slot",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch through the slotted top handle area to lift and carry the carton",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the handle region to reposition the carton on a shelf",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a carry grip",
+                "lift the package",
+                "help reposition the box",
+                "integrate with top closure"
+            ],
+            "semantic_description": "Narrow elongated slot at the top center of the carton, cut into the orange-toned top panel and used as the carrying handle opening.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top flap panels",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a top flap edge to open the carton",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "pinch the flap to fold it back into the closed position",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "open package",
+                "close package",
+                "cover the contents",
+                "provide access to biscuits"
+            ],
+            "semantic_description": "Folded top closure panels made of paperboard with orange-toned printed outer surfaces and a matte smooth finish, forming the gable-style roof and opening structure.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "gable end side flap",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small end flap to assist opening the top closure",
+                    "confidence": 0.48
+                },
+                {
+                    "scenario": "hold the flap lightly while aligning it for closing",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "secure end of top closure",
+                "assist opening and closing",
+                "lock folded top structure",
+                "stabilize carton end"
+            ],
+            "semantic_description": "Small triangular flap at the gable end near the top, made of paperboard with a matte smooth surface and folded into the end of the closure structure.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and part identities mismatch; handle slot color wrong and top flap/gable assignments inaccurate."
+    }
+}

dataset/food/snack/a6a1dbf0ecec511aaae0221ce93e083d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f268f5740a16618c6c24acc24b21b13745f350143ba94d258cc786d7ff2f90dc
+size 3783460

dataset/food/snack/a6a1dbf0ecec511aaae0221ce93e083d/biscuit_003.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>NO: {"summary":"Segmentation uses decorative graphics and tiny fragments, not functional biscuit parts; package handle/body not cleanly represented.","merge_groups":[]}</PartSegChecker>