Add asset food/snack/db544914ba9d53a39fdea85760cd2737

.gitattributes

@@ -6892,4 +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/db544914ba9d53a39fdea85760cd2737/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/db544914ba9d53a39fdea85760cd2737/affordance/affordance_annot.json

@@ -0,0 +1,179 @@
+{
+    "affordances": [
+        {
+            "part_name": "wrapper body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the center of the wrapped package to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the package body to stabilize it while placing or inspecting",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain the chocolate",
+                "protect the food",
+                "main grasp surface",
+                "provide package structure"
+            ],
+            "semantic_description": "Large pillow-shaped dark brown plastic wrapper body with a glossy smooth surface, slightly puffed shape, and printed areas visible on the front and back.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_16": {
+                    "confidence": 0.8176237344741821,
+                    "position": [
+                        0.09947451367042959,
+                        0.017753925552824512,
+                        -0.0028718763569486327
+                    ],
+                    "orientation": {
+                        "w": 0.7011928756007028,
+                        "xyz": [
+                            -0.021641393218310014,
+                            -0.7087170266769867,
+                            0.07470192370025645
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front printed label area",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display product branding",
+                "show product information",
+                "identify the front side"
+            ],
+            "semantic_description": "Large rounded-rectangle cream or off-white printed label area on the front face, smooth and flat, with bold black characters and smaller black text printed on it.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small printed marking",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide small printed detail",
+                "aid visual identification"
+            ],
+            "semantic_description": "Small printed marking on the front label area, smooth and flat, positioned off-center as a minor printed element; its exact real color is unclear in the RGB views.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "crimped end seal",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch an end seal to pull or tear open the wrapper",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "grasp an end seal to reorient the package before opening",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "seal the wrapper ends",
+                "enable opening by tearing",
+                "retain contents"
+            ],
+            "semantic_description": "Narrow serrated sealed band at the wrapper ends, made of the same dark brown glossy plastic film with a ribbed crimped texture.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.46131888031959534,
+                    "position": [
+                        0.10876146866939962,
+                        -0.004169920081039891,
+                        -0.002851807752449531
+                    ],
+                    "orientation": {
+                        "w": 0.4984785139113082,
+                        "xyz": [
+                            0.47714194568587354,
+                            -0.5082255580835751,
+                            -0.5153266119137561
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side seam strip",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the side seam to start opening the package",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "lightly grasp the seam to stabilize the wrapper during manipulation",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "join wrapper layers",
+                "reinforce the package edge",
+                "provide an opening reference"
+            ],
+            "semantic_description": "Thin seam strip near the package side edges, visible as a narrow dark brown glossy fold with a slightly raised sealed texture.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wrapper corner flap",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a corner area to help peel or tear the wrapper open",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "grasp a corner to rotate the package into a better pose",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "form the wrapper corner",
+                "assist package opening",
+                "define package perimeter"
+            ],
+            "semantic_description": "Small corner flap region at the wrapper corners, dark brown, glossy, thin, and flexible, tapering into the sealed perimeter.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.5880151987075806,
+                    "position": [
+                        0.10713510378263891,
+                        0.009394891938427463,
+                        0.0009834756419877522
+                    ],
+                    "orientation": {
+                        "w": 0.47518764719076223,
+                        "xyz": [
+                            -0.48164358011062974,
+                            -0.5224285116800139,
+                            0.5189264031433826
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red mask is full front panel, not just printed label area; green mark color/location also mismatched."
+    }
+}

dataset/food/snack/db544914ba9d53a39fdea85760cd2737/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce4287a3c8f7e58cea18d9c29f186b43a2192bce0072b6309097c6ff44029c1f
+size 3784784

dataset/food/snack/db544914ba9d53a39fdea85760cd2737/chocolate_007.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>