Add asset food/snack/547d6540fcf65512a28dc9f4a1762c8a

.gitattributes

@@ -6869,4 +6869,4 @@ dataset/food/snack/3d9da38f77b356a781101e05d7cfe673/affordance/mesh_part_seg.glb
 dataset/food/snack/462e0096afa956a08308187afd89d50c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/47c57c46000757e59463da94f27c64f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/4b38591903d35cfc98afc374dc63daa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/547d6540fcf65512a28dc9f4a1762c8a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/547d6540fcf65512a28dc9f4a1762c8a/affordance/affordance_annot.json

@@ -0,0 +1,102 @@
+{
+    "affordances": [
+        {
+            "part_name": "candy wrapper",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the wrapped candy at the center to pick it up from a surface",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pinch one end of the wrapper to pull or reposition the candy",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the wrapper while opening or handing over the candy",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "contain the candy",
+                "protect the candy from contamination",
+                "provide the main grasp surface",
+                "enable picking and repositioning",
+                "display branding and product information"
+            ],
+            "semantic_description": "Small elongated red-and-white plastic film wrapper with a glossy smooth crinkly surface, sealed serrated ends, blue-and-white printed branding and Chinese text, enclosing the candy at the center.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.7433117628097534,
+                    "position": [
+                        0.00839196411834564,
+                        0.10215307105681859,
+                        0.008398624189794646
+                    ],
+                    "orientation": {
+                        "w": 0.45637448187411284,
+                        "xyz": [
+                            0.4424683441563885,
+                            -0.5862986085314209,
+                            0.5021932280982676
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.7409967184066772,
+                    "position": [
+                        0.018330300095840357,
+                        0.1020760171522852,
+                        0.011473808490336523
+                    ],
+                    "orientation": {
+                        "w": 0.4797229605969061,
+                        "xyz": [
+                            0.41763950157079005,
+                            -0.6090701879250854,
+                            0.4737896516226822
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.7384806871414185,
+                    "position": [
+                        0.023101042825146578,
+                        0.09830107618472539,
+                        0.011053634860218153
+                    ],
+                    "orientation": {
+                        "w": 0.4764553935807463,
+                        "xyz": [
+                            0.4055559592602848,
+                            -0.6206363811642426,
+                            0.47257285598269355
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.7376328706741333,
+                    "position": [
+                        0.01849992932693567,
+                        0.10011141825816594,
+                        0.006165533379316912
+                    ],
+                    "orientation": {
+                        "w": 0.47629090954264197,
+                        "xyz": [
+                            0.40239742824407426,
+                            -0.6035878283657736,
+                            0.4968953739755361
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/snack/547d6540fcf65512a28dc9f4a1762c8a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbaf3667e29887ea95fb54864a8cd3540a8fb8a6c32fece3ca50c68429b7f999
+size 3777020

dataset/food/snack/547d6540fcf65512a28dc9f4a1762c8a/candy_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>YES</PartSegChecker>