Add asset food/snack/d7c60e82529452eba52ff2d70e3cc57d

.gitattributes

@@ -6892,3 +6892,4 @@ dataset/food/snack/c8ea14aadc6d595e9bf3dbd86fef7866/affordance/mesh_part_seg.glb
 dataset/food/snack/d30f92d30c70597a917062e5793b52b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/b80f9d5023f6516393cd15d77d561070/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/d7879e73e54754d995ab4d2f9e5360a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/d7c60e82529452eba52ff2d70e3cc57d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/d7c60e82529452eba52ff2d70e3cc57d/affordance/affordance_annot.json

@@ -0,0 +1,272 @@
+{
+    "affordances": [
+        {
+            "part_name": "wrapper body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle of the wrapped biscuit package to pick it up",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the wrapper body to stabilize the package during placement or inspection",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "pinch the wrapper body to reposition the lightweight package on a surface",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain the biscuit",
+                "main grasp surface",
+                "protect the food",
+                "provide printed product information",
+                "support handling and transport"
+            ],
+            "semantic_description": "Large flexible plastic wrapper covering nearly the entire package, with a smooth slightly glossy crinkly surface. It is mainly white and light brown, with printed branding and a biscuit picture on the front and a plainer back.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9243130087852478,
+                    "position": [
+                        0.09986333738925168,
+                        -0.008617028535809368,
+                        0.0017794496416172478
+                    ],
+                    "orientation": {
+                        "w": 0.6985220289549139,
+                        "xyz": [
+                            0.0020596423460344,
+                            -0.7140201660646571,
+                            -0.047306821824301924
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9176405072212219,
+                    "position": [
+                        0.08276209425093839,
+                        -0.061644487956073135,
+                        -0.004206270790746203
+                    ],
+                    "orientation": {
+                        "w": 0.22900526010914057,
+                        "xyz": [
+                            -0.6696314641236177,
+                            0.1964572879949017,
+                            0.6786418990098483
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9175911545753479,
+                    "position": [
+                        -0.09509108025667956,
+                        -0.03282762406161055,
+                        -0.0029524908131861594
+                    ],
+                    "orientation": {
+                        "w": 0.7035161296023809,
+                        "xyz": [
+                            -0.10340241843907728,
+                            0.692050803933093,
+                            0.12425248498841256
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9165186285972595,
+                    "position": [
+                        -0.08197432566521456,
+                        0.060563686362002045,
+                        0.0009430327954760287
+                    ],
+                    "orientation": {
+                        "w": 0.6673254761533182,
+                        "xyz": [
+                            0.23509229085063701,
+                            0.6791960821327725,
+                            -0.19519478905657225
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9163364171981812,
+                    "position": [
+                        0.08060060631396482,
+                        -0.0648692668764852,
+                        -0.00172068550818949
+                    ],
+                    "orientation": {
+                        "w": 0.24199918175772564,
+                        "xyz": [
+                            -0.6747813294124704,
+                            0.1963910793310618,
+                            0.6689821353848782
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9153569936752319,
+                    "position": [
+                        -0.09933561641810229,
+                        -0.0009351175394840539,
+                        -0.0012066190793120768
+                    ],
+                    "orientation": {
+                        "w": 0.703994603468054,
+                        "xyz": [
+                            0.02537721794706107,
+                            0.7096916099379307,
+                            0.009241963039971155
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9135323166847229,
+                    "position": [
+                        -0.08929630179045489,
+                        -0.05125844938447699,
+                        0.0006399162848538253
+                    ],
+                    "orientation": {
+                        "w": 0.6755789716427174,
+                        "xyz": [
+                            -0.15242847703836473,
+                            0.6970408482769163,
+                            0.18572201887587295
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "printed biscuit image",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "depict the food product",
+                "indicate product type",
+                "support package graphics"
+            ],
+            "semantic_description": "Flat printed illustration of a golden-brown rectangular biscuit with rounded corners and small hole details on the front of the wrapper; it is a graphic, not a separate physical biscuit.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "sealed end fin",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a sealed end to pull and open the package",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp an end fin to drag or reorient the lightweight package",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "seal the package ends",
+                "enable opening by pulling",
+                "retain freshness",
+                "provide an edge for manipulation"
+            ],
+            "semantic_description": "Thin crimped sealed fin at both short ends of the wrapper, made from the same plastic film and appearing ribbed, flexible, and slightly glossy, extending past the main body.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side seam",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join wrapper layers",
+                "maintain package shape",
+                "form a sealed side edge"
+            ],
+            "semantic_description": "Narrow light-colored sealed strip along one side edge of the wrapper, visible as a thin vertical band near the package side in several views.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back fold seam",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate wrapper fold",
+                "help form the package shape",
+                "mark a closure line on the film"
+            ],
+            "semantic_description": "Thin curved fold or seam line across the wrapper surface, visible as a narrow darker line on the plastic film, especially on the back views.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end crimp band",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "transition from body to end seal",
+                "reinforce the sealed edge region",
+                "maintain package integrity"
+            ],
+            "semantic_description": "Narrow strip just inside each yellow crimped end, made from the same wrapper film and visible as a slim band adjacent to the end seal.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed logo text",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display brand identity",
+                "provide product labeling",
+                "support visual recognition"
+            ],
+            "semantic_description": "Dark brown printed brand logo and Chinese text on the front wrapper, appearing as flat ink graphics on the smooth glossy plastic near the center-left area.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small printed icon",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide graphic decoration",
+                "support product labeling",
+                "indicate package information"
+            ],
+            "semantic_description": "Small flat printed graphic mark on the front wrapper near the branding area, visible as a tiny colored icon on the glossy film.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "biscuit image highlight",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enhance the biscuit illustration",
+                "separate the biscuit graphic from the background",
+                "support visual emphasis"
+            ],
+            "semantic_description": "Light-colored printed highlight or border around part of the biscuit illustration on the front wrapper, appearing as a flat graphic accent rather than a raised physical part.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions use wrong visible colors; one mask part is likely package panel, not biscuit-image highlight."
+    }
+}

dataset/food/snack/d7c60e82529452eba52ff2d70e3cc57d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e99fa57897a26fe63b2f2cf4991bb339d351f3632a4bf0cf29021aee6306be82
+size 3795632