Add asset food/snack/2d7b78491f6956839ee8baf783daaf23

.gitattributes

@@ -6861,3 +6861,4 @@ dataset/food/snack/21465c41fd6f545aaaf0818652a5ef39/affordance/mesh_part_seg.glb
 dataset/food/snack/21ae1735882f5d59a68fcee8a12606a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/227cc3acd3ef549093fac05e82e7df45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/243e470509c750148214e308eb5d2877/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/affordance/affordance_annot.json

@@ -0,0 +1,70 @@
+{
+    "affordances": [
+        {
+            "part_name": "biscuit package",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the package body from the sides to pick up the biscuits",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "pinch the upper sealed section to move or present the package",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the package steady while opening the top seal",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain biscuits",
+                "protect food contents",
+                "provide main grasp surface",
+                "support transport",
+                "display product information"
+            ],
+            "semantic_description": "A medium-sized red and dark brown flexible plastic snack pouch with a glossy smooth crinkled surface, trapezoidal bag shape, sealed top, and printed white Chinese text plus biscuit images on the front.",
+            "id": 15,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.9485619068145752,
+                    "position": [
+                        -0.005670303013175726,
+                        0.08951942122075707,
+                        0.22310783341526985
+                    ],
+                    "orientation": {
+                        "w": 0.034766055995266214,
+                        "xyz": [
+                            0.0023158393370414296,
+                            0.9679246527030296,
+                            -0.2488128311169229
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9469357132911682,
+                    "position": [
+                        -0.010195054579526186,
+                        0.08601159846875817,
+                        0.2247449792921543
+                    ],
+                    "orientation": {
+                        "w": 0.04590478589631298,
+                        "xyz": [
+                            0.0032741525012127625,
+                            0.9677521058669981,
+                            -0.2476648787115411
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e18ec27c01a13cb3a9e64dd9db54bbea790ed1a777ae82b5796ef4076b3655f9
+size 3827000

dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/biscuit_008.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>