Add asset food/snack/bde493d11d265f449ff14449c382450b

.gitattributes

@@ -6886,3 +6886,4 @@ dataset/food/snack/a6a1dbf0ecec511aaae0221ce93e083d/affordance/mesh_part_seg.glb
 dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/b049bc9835cd59f289878f15e294258d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/b7535479eb9e589bacc245ba4b8ad1c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/bde493d11d265f449ff14449c382450b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/bde493d11d265f449ff14449c382450b/affordance/affordance_annot.json

@@ -0,0 +1,191 @@
+{
+    "affordances": [
+        {
+            "part_name": "top/front foil surface",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the wrapped candy on the front foil face to pick it up from a flat surface",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the front foil-covered side to place or sort the candy",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp near the crimped foil edge on the front side to begin unwrapping",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "cover the chocolate",
+                "protect the candy",
+                "provide a handling surface",
+                "display branding and product text",
+                "enable unwrapping from the edge"
+            ],
+            "semantic_description": "Gold metallic foil forming the front/top visible face of the candy, glossy and slightly crinkled around the rim, with dark red HERSHEY'S branding and smaller Chinese text on a teardrop-shaped surface.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.5356314778327942,
+                    "position": [
+                        0.0920006381929852,
+                        -0.034504275772633264,
+                        -0.00731736192938115
+                    ],
+                    "orientation": {
+                        "w": 0.1519303221833256,
+                        "xyz": [
+                            -0.676540868664981,
+                            0.11246014957925721,
+                            0.7117319333737352
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.5068483352661133,
+                    "position": [
+                        -0.09705125814070925,
+                        -0.0054243574886641,
+                        -0.0021665622898581205
+                    ],
+                    "orientation": {
+                        "w": 0.09153192680645161,
+                        "xyz": [
+                            -0.6897325583521515,
+                            0.03470478100665464,
+                            -0.7174165334722742
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.493117094039917,
+                    "position": [
+                        -0.09525357460370287,
+                        0.019270023327408126,
+                        -0.006796428044253844
+                    ],
+                    "orientation": {
+                        "w": 0.7345862409890256,
+                        "xyz": [
+                            0.06578302534407897,
+                            0.6712160243851646,
+                            -0.07432830372588428
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.48763158917427063,
+                    "position": [
+                        -0.0954201397835277,
+                        0.01997923291855841,
+                        -0.004338622600698727
+                    ],
+                    "orientation": {
+                        "w": 0.7144299348120822,
+                        "xyz": [
+                            0.033606854595194045,
+                            0.6909614467481067,
+                            -0.10503678725277536
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.48429882526397705,
+                    "position": [
+                        -0.09304809843888506,
+                        -0.028823433447541902,
+                        -0.002829602262863773
+                    ],
+                    "orientation": {
+                        "w": 0.15435892709387108,
+                        "xyz": [
+                            -0.6850589074013405,
+                            -0.06470429777380149,
+                            -0.7089999780438011
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.4829998314380646,
+                    "position": [
+                        -0.09314009075751528,
+                        -0.027624066922726342,
+                        0.005678651346897823
+                    ],
+                    "orientation": {
+                        "w": 0.6875968467715209,
+                        "xyz": [
+                            -0.04897854493596327,
+                            0.7079159727265159,
+                            0.15383970230239088
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.42264649271965027,
+                    "position": [
+                        -0.09607860719552264,
+                        0.006659674920229008,
+                        0.018462794325387222
+                    ],
+                    "orientation": {
+                        "w": 0.6678658439541761,
+                        "xyz": [
+                            -0.052588470187310984,
+                            0.7366910347361619,
+                            -0.09206512163733903
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "underside/back foil surface",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "gently grasp the underside or back foil surface to lift or transfer the wrapped candy",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "stabilize the candy by holding the back surface during placement",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "cover the back of the chocolate",
+                "support resting on a surface",
+                "provide contact area for handling",
+                "contain the chocolate beneath the foil"
+            ],
+            "semantic_description": "The back or underside foil-covered surface of the candy, appearing gold, smooth and rounded with a broad teardrop profile and slight crimping visible along the perimeter in some views.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.3827555179595947,
+                    "position": [
+                        0.0636297213495709,
+                        0.08522942289346247,
+                        0.014438280328249675
+                    ],
+                    "orientation": {
+                        "w": 0.20283319541194683,
+                        "xyz": [
+                            -0.2702680795665676,
+                            -0.707703822552864,
+                            0.6204588298593573
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/snack/bde493d11d265f449ff14449c382450b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b9dbb307ba096f406be0e64fb0a05bb5bd61823358a8a3713f142e2bae99516
+size 3781552

dataset/food/snack/bde493d11d265f449ff14449c382450b/chocolate_002.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>