Add asset food/snack/807c20e3436a5d258e8c9cdab2985e2c

.gitattributes

@@ -6874,3 +6874,4 @@ dataset/food/snack/5c319d0796c254bbb829452c42a90718/affordance/mesh_part_seg.glb
 dataset/food/snack/70a49a578c905f2a9b3d74a3da7f27d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/7afdc23907745576bc885588017b4b28/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/7d0b5519bd71548887394a7a2e239237/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/807c20e3436a5d258e8c9cdab2985e2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/807c20e3436a5d258e8c9cdab2985e2c/affordance/affordance_annot.json

@@ -0,0 +1,275 @@
+{
+    "affordances": [
+        {
+            "part_name": "wrapper body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle of the package to pick up and move the snack pack",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the package body to stabilize it while placing or opening",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "contain the food",
+                "main grasp surface",
+                "protect the contents",
+                "display product branding"
+            ],
+            "semantic_description": "Large flexible yellow plastic wrapper forming the main pillow-pack body, with a smooth slightly glossy surface and printed black, white, and cheese-themed graphics on the front.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9669439196586609,
+                    "position": [
+                        -0.04449743629083969,
+                        0.09516455557604786,
+                        -0.0015190986159723252
+                    ],
+                    "orientation": {
+                        "w": 0.42422912714443717,
+                        "xyz": [
+                            0.5869108061276158,
+                            -0.3619567335130429,
+                            0.5869860955742214
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.963018536567688,
+                    "position": [
+                        0.05780996903195046,
+                        0.08161693390866276,
+                        -0.008571467798901722
+                    ],
+                    "orientation": {
+                        "w": 0.664826458449778,
+                        "xyz": [
+                            0.2987579641253526,
+                            -0.6036563010252084,
+                            0.3230302296215682
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9625856876373291,
+                    "position": [
+                        -0.07238339111790992,
+                        -0.07529738965968136,
+                        0.024011908593820408
+                    ],
+                    "orientation": {
+                        "w": 0.564395856649315,
+                        "xyz": [
+                            -0.33091643549366867,
+                            0.7089113302714962,
+                            0.26343188024600994
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9611529111862183,
+                    "position": [
+                        0.007613467605551705,
+                        0.10028530981799122,
+                        -0.004996975854737684
+                    ],
+                    "orientation": {
+                        "w": 0.5672030038640813,
+                        "xyz": [
+                            0.4647332536541128,
+                            -0.5040987710037763,
+                            0.4562764342239334
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9610174298286438,
+                    "position": [
+                        -0.04112927839742042,
+                        0.09356545981427189,
+                        -0.002102630416629836
+                    ],
+                    "orientation": {
+                        "w": 0.42738658847505684,
+                        "xyz": [
+                            0.5879979873645873,
+                            -0.3609923164022958,
+                            0.5841948462160131
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9609817862510681,
+                    "position": [
+                        -0.04921201095567085,
+                        0.09394171413441654,
+                        -0.00042827348806895316
+                    ],
+                    "orientation": {
+                        "w": 0.5767304248441286,
+                        "xyz": [
+                            0.3661863981794645,
+                            0.6041975081887285,
+                            -0.4101644913275568
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9609750509262085,
+                    "position": [
+                        -0.05036666840896942,
+                        0.0961342262889957,
+                        0.001688609627308324
+                    ],
+                    "orientation": {
+                        "w": 0.5679849876173705,
+                        "xyz": [
+                            0.36624791951726654,
+                            0.6117527017631539,
+                            -0.4111133021151838
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cheese illustration area",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "show product imagery",
+                "indicate flavor or product type",
+                "provide front-face visual identification"
+            ],
+            "semantic_description": "Printed graphic area on the front showing a pale yellow cheese block illustration with round hole details, integrated into the glossy yellow wrapper near the center.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small printed code/label area",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide printed information",
+                "support product identification",
+                "mark a small printed area"
+            ],
+            "semantic_description": "Very small printed area near an end seal, appearing as a tiny dark or QR-like printed patch on the yellow wrapper rather than a separate material piece.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end crimp seal",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the sealed end to help tear open the package",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "grasp the sealed end to lift or reposition the lightweight pack",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "seal the package end",
+                "help enable opening by tearing",
+                "retain contents"
+            ],
+            "semantic_description": "Narrow crimped yellow plastic strip at a package end, with ribbed serrated edge detail, glossy finish, and a flattened flexible form.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side seam",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the side seam to orient the package during handling or opening",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "lightly grasp the seam to stabilize the pack",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "join wrapper panels",
+                "support package shape",
+                "provide edge structure"
+            ],
+            "semantic_description": "Thin side edge seam corresponding to a narrow folded section of the yellow wrapper, visible as a slightly raised edge band along one side.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_31": {
+                    "confidence": 0.7706341743469238,
+                    "position": [
+                        0.08267802521004342,
+                        0.07846960004826542,
+                        -0.006798954651458189
+                    ],
+                    "orientation": {
+                        "w": 0.3147031593208744,
+                        "xyz": [
+                            0.611623902503531,
+                            0.3114498825836036,
+                            -0.6556501308155679
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.6999194025993347,
+                    "position": [
+                        0.061714363837381825,
+                        -0.0979621750448132,
+                        -0.000390010914998129
+                    ],
+                    "orientation": {
+                        "w": 0.35266121326246375,
+                        "xyz": [
+                            -0.583870403919075,
+                            0.40787378393573337,
+                            0.6069303061024143
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "tearable edge margin",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the narrow edge margin near the seal to start opening the package",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "use the edge margin for fine reorientation of the pack",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "assist tearing",
+                "define package edge",
+                "help access contents"
+            ],
+            "semantic_description": "Slim narrow wrapper margin adjacent to an end seal, visible as a thin yellow edge band with a glossy smooth finish and flattened flexible shape.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green mask is cheese-shaped graphic region, not generic illustration area; blue part is QR/code patch, not vague label area."
+    }
+}

dataset/food/snack/807c20e3436a5d258e8c9cdab2985e2c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3081dabb4b5535e63582bedfc2fbc04827c2f4a1c6b682ba338317dbddc3bc40
+size 3785128

dataset/food/snack/807c20e3436a5d258e8c9cdab2985e2c/cheese_sticks_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>