Add asset food/snack/b699c8e716715f17bfdc26a87e661b2a

.gitattributes

@@ -6884,3 +6884,4 @@ dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/affordance/mesh_part_seg.glb
 dataset/food/snack/a0d8ca01396056c3a5af46497e3e56f7/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/ae530ea5501c5af38ccaeb1ecdf7d3e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/b699c8e716715f17bfdc26a87e661b2a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/b699c8e716715f17bfdc26a87e661b2a/affordance/affordance_annot.json

@@ -0,0 +1,54 @@
+{
+    "affordances": [
+        {
+            "part_name": "potato chips bag",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bag body from the sides to pick up and move the snack package",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pinch an upper corner or edge of the bag to reposition it",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the bag body to stabilize it while opening or pouring",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "contain potato chips",
+                "provide main grasp surface",
+                "protect contents",
+                "support lifting and carrying",
+                "enable pouring after opening"
+            ],
+            "semantic_description": "Soft pillow-shaped snack bag made of thin printed plastic film, mostly dark green and red with white text and chip graphics, having a glossy smooth crinkly surface and medium overall size.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_8": {
+                    "confidence": 0.9491080641746521,
+                    "position": [
+                        0.13078503112774342,
+                        0.00829164672177285,
+                        0.016427208291133866
+                    ],
+                    "orientation": {
+                        "w": 0.6458806516578929,
+                        "xyz": [
+                            -0.010753512665703012,
+                            -0.7628093089296825,
+                            -0.029060350815925253
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/snack/b699c8e716715f17bfdc26a87e661b2a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f21ebcf6ecb0fa147bf3840abc8209e7ba4ec6900dd57b5d243f7f2467dccc9c
+size 3777008

dataset/food/snack/b699c8e716715f17bfdc26a87e661b2a/potato_chips_009.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>