Add asset food/snack/1c48c47e83c5593e8d38adb630f6fb7d

.gitattributes

@@ -6855,3 +6855,4 @@ dataset/food/snack/10bfe27fbe1f564d91bad844554b33c3/affordance/mesh_part_seg.glb
 dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/194da09669c0587892933c39a86fb4d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/f8ee460103145500805dee37553b1fdb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/1c48c47e83c5593e8d38adb630f6fb7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/1c48c47e83c5593e8d38adb630f6fb7d/affordance/affordance_annot.json

@@ -0,0 +1,142 @@
+{
+    "affordances": [
+        {
+            "part_name": "chips bag body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the center of the bag to pick up and move the snack package",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "squeeze the bag body to stabilize it while placing or reorienting it",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the bag body while presenting it for opening or inspection",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "contain potato chips",
+                "main grasp surface",
+                "protect contents",
+                "display branding",
+                "provide flexible structure"
+            ],
+            "semantic_description": "Large pillow-shaped snack bag body made of glossy printed plastic film, dark blue and off-white with potato chip graphics and bold white text, with a smooth slightly crinkled flexible surface over most of the package.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9678202271461487,
+                    "position": [
+                        0.1537902237905655,
+                        -0.013601700309664011,
+                        -0.005357130154152401
+                    ],
+                    "orientation": {
+                        "w": 0.114779208091423,
+                        "xyz": [
+                            0.6922021815160644,
+                            0.11282279477582147,
+                            -0.7035288837519611
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9589378237724304,
+                    "position": [
+                        0.1497563751472626,
+                        0.0010234296787530184,
+                        -0.002734803085331805
+                    ],
+                    "orientation": {
+                        "w": 0.15138262441442127,
+                        "xyz": [
+                            0.6893251835210833,
+                            0.1414460870269687,
+                            -0.6941952872598508
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9564982056617737,
+                    "position": [
+                        0.15245186109677888,
+                        -0.023471730295568705,
+                        -0.009883725273539312
+                    ],
+                    "orientation": {
+                        "w": 0.7182388823513501,
+                        "xyz": [
+                            0.039009007366629905,
+                            -0.6934014593059628,
+                            0.04249260471323557
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "left side sealed seam",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the side seam to reposition or rotate the bag",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the side seam to stabilize the package during handling",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "lightly grip the seam near a corner to orient the bag before placement",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "seal the side of the package",
+                "reinforce the bag edge",
+                "define package boundary",
+                "help maintain bag shape"
+            ],
+            "semantic_description": "Narrow vertical side seam along one edge of the snack bag, made from folded glossy plastic film with a slightly crimped texture, matching the adjacent printed blue and off-white packaging colors.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side sealed seam",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the opposite side seam to reposition or rotate the bag",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the side seam to stabilize the package during handling",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "lightly grip the seam near a corner to orient the bag before placement",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "seal the side of the package",
+                "reinforce the bag edge",
+                "define package boundary",
+                "help maintain bag shape"
+            ],
+            "semantic_description": "Narrow vertical side seam along the opposite edge of the snack bag, made from folded glossy plastic film with a slightly crimped texture, matching the adjacent printed blue and off-white packaging colors.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/snack/1c48c47e83c5593e8d38adb630f6fb7d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53ebe570f725cb27507337a59aa81056b19d143b09b6bea8c665f1d11f82784c
+size 3781332

dataset/food/snack/1c48c47e83c5593e8d38adb630f6fb7d/potato_chips_005.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>