Add asset food/snack/3d9da38f77b356a781101e05d7cfe673

.gitattributes

@@ -6865,3 +6865,4 @@ dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/affordance/mesh_part_seg.glb
 dataset/food/snack/3270a4df5dfd5ba5a51d2555f92e309b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/3cc33f3d5a805f65aadb7c6285ddb986/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/37c70f392dad5dd4b446f781a45b2ae7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/3d9da38f77b356a781101e05d7cfe673/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/3d9da38f77b356a781101e05d7cfe673/affordance/affordance_annot.json

@@ -0,0 +1,242 @@
+{
+    "affordances": [
+        {
+            "part_name": "main candy pouch body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the pouch to pick up and move the candy package",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the pouch body while opening the top seal",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "stabilize the package upright on a surface during placement",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain the candy",
+                "provide main grasp surface",
+                "support package structure",
+                "present product graphics"
+            ],
+            "semantic_description": "Large tapered flexible plastic pouch body in dark purple with a mostly glossy smooth surface, broad front and back panels, printed branding, and the largest central area of the package.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_44": {
+                    "confidence": 0.9006977677345276,
+                    "position": [
+                        -0.0006939682934898883,
+                        -0.1420589298941195,
+                        0.09006159286946058
+                    ],
+                    "orientation": {
+                        "w": 0.7163614080369601,
+                        "xyz": [
+                            -0.6973256068443858,
+                            -0.011049704325956644,
+                            -0.02100559803296084
+                        ]
+                    }
+                },
+                "grasp_45": {
+                    "confidence": 0.9004525542259216,
+                    "position": [
+                        -0.006785516394302249,
+                        -0.13596991309896111,
+                        0.0696571646258235
+                    ],
+                    "orientation": {
+                        "w": 0.7302155058689767,
+                        "xyz": [
+                            -0.6825248638457506,
+                            -0.002709294046404187,
+                            -0.03062327459016742
+                        ]
+                    }
+                },
+                "grasp_47": {
+                    "confidence": 0.8979604244232178,
+                    "position": [
+                        0.001290327636525035,
+                        0.13877370348200202,
+                        0.09621431212872267
+                    ],
+                    "orientation": {
+                        "w": 0.030711189917405242,
+                        "xyz": [
+                            0.03107778125393579,
+                            0.694341704231364,
+                            -0.7183178906941373
+                        ]
+                    }
+                },
+                "grasp_54": {
+                    "confidence": 0.8917177319526672,
+                    "position": [
+                        0.003661984344944358,
+                        0.14114847173914313,
+                        0.09780523460358381
+                    ],
+                    "orientation": {
+                        "w": 0.032654154562344564,
+                        "xyz": [
+                            0.02159052912920054,
+                            0.6968203572529879,
+                            -0.7161766157586812
+                        ]
+                    }
+                },
+                "grasp_55": {
+                    "confidence": 0.8904648423194885,
+                    "position": [
+                        -0.00953467027284205,
+                        -0.1381362439133227,
+                        0.08759759645909071
+                    ],
+                    "orientation": {
+                        "w": 0.046198203560505774,
+                        "xyz": [
+                            -0.008937593393432879,
+                            0.7092448752346272,
+                            0.7033900428393435
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.8894757032394409,
+                    "position": [
+                        -0.00042020296677947044,
+                        0.13604491343721747,
+                        0.09779270272701979
+                    ],
+                    "orientation": {
+                        "w": 0.03207498135659757,
+                        "xyz": [
+                            0.029712232896860025,
+                            0.6957428989150961,
+                            -0.7169589928276758
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top seal strip",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top strip to lift the lightweight pouch",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "grasp the sealed top edge to help open or reorient the package",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "seal the package opening",
+                "provide tear-open area",
+                "support hanging display",
+                "indicate top orientation"
+            ],
+            "semantic_description": "Narrow horizontal dark purple plastic strip at the top with a glossy smooth finish, thin flat shape, and a small hang hole centered near the upper edge.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_10": {
+                    "confidence": 0.8687542676925659,
+                    "position": [
+                        0.004969974746927619,
+                        0.13891064515337348,
+                        0.12341681402176619
+                    ],
+                    "orientation": {
+                        "w": 0.6591632807433107,
+                        "xyz": [
+                            0.7519679131510578,
+                            -0.00038881574234816974,
+                            -0.006919229240072744
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.867082953453064,
+                    "position": [
+                        0.0033765595871955156,
+                        0.14215811481699347,
+                        0.1138611538335681
+                    ],
+                    "orientation": {
+                        "w": 0.039079797891869696,
+                        "xyz": [
+                            0.03343949606210265,
+                            0.7123731018416556,
+                            -0.69991366129855
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom gusset base",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower base area to lift or reposition the pouch from a table",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold the bottom section to stabilize the package while opening the top",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support standing upright",
+                "expand package volume",
+                "stabilize on flat surfaces",
+                "form the base"
+            ],
+            "semantic_description": "Wide off-white plastic gusset at the bottom with a smooth slightly glossy surface, broad folded rectangular shape, and placement at the package underside for standing support.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side seam fold",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join side panels",
+                "maintain pouch shape",
+                "define fold line"
+            ],
+            "semantic_description": "Thin vertical folded plastic seam along a side edge, dark purple and smooth with a glossy finish, forming a narrow structural join between the pouch panels.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed product image area",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display product imagery",
+                "highlight flavor or contents visually",
+                "provide package artwork"
+            ],
+            "semantic_description": "Printed image area on the lower front and side of the pouch, showing a pinkish-red to beige product graphic on the glossy package surface; flat, non-structural, and larger than a tiny patch.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red region is actual product image, not generic area; bottom gusset marked graspable too strongly for unstable broad base grasp."
+    }
+}

dataset/food/snack/3d9da38f77b356a781101e05d7cfe673/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86090b55228849aad3d5786fd25038c32f37e11b9bad3877bb1f2893ff8bf456
+size 3790044

dataset/food/snack/3d9da38f77b356a781101e05d7cfe673/candy_004.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>