Add asset food/snack/47c57c46000757e59463da94f27c64f7

.gitattributes

@@ -6867,3 +6867,4 @@ dataset/food/snack/3cc33f3d5a805f65aadb7c6285ddb986/affordance/mesh_part_seg.glb
 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/462e0096afa956a08308187afd89d50c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/47c57c46000757e59463da94f27c64f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/47c57c46000757e59463da94f27c64f7/affordance/affordance_annot.json

@@ -0,0 +1,130 @@
+{
+    "affordances": [
+        {
+            "part_name": "main wrapper body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle of the package to pick up and move the packaged cheese snack",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the package body to stabilize it while tearing open an end seal",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "lightly squeeze the wrapper body to orient the package for placement",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain the cheese snack",
+                "provide the main grasp surface",
+                "protect the food",
+                "support handling and transport",
+                "display product branding and information"
+            ],
+            "semantic_description": "Long narrow flexible plastic wrapper body forming most of the package, with a smooth glossy finish and a tapered pillow-like shape. The visible design is mainly white in the center with yellow and green printed areas and branding, positioned between the sealed end tabs.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9890563488006592,
+                    "position": [
+                        0.016389646712923422,
+                        0.1020273626782,
+                        0.008534019812941551
+                    ],
+                    "orientation": {
+                        "w": 0.4800724001861508,
+                        "xyz": [
+                            0.526272413157543,
+                            0.518622137839803,
+                            -0.4728624703561459
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.988456130027771,
+                    "position": [
+                        0.007341469783568755,
+                        0.10094382474198937,
+                        0.0013872866984456778
+                    ],
+                    "orientation": {
+                        "w": 0.49925633321530577,
+                        "xyz": [
+                            0.502064539749843,
+                            0.5036439404240848,
+                            -0.4949920130106008
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9880527257919312,
+                    "position": [
+                        0.006487833015853539,
+                        0.10028897086158395,
+                        -0.014865104109048843
+                    ],
+                    "orientation": {
+                        "w": 0.5490350200604235,
+                        "xyz": [
+                            0.45985558362135126,
+                            0.45048371785163477,
+                            -0.5330645447880449
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9872294664382935,
+                    "position": [
+                        -0.011156233813380823,
+                        0.10181209305301309,
+                        -0.012869183905422688
+                    ],
+                    "orientation": {
+                        "w": 0.5374632041936501,
+                        "xyz": [
+                            0.46766409096715217,
+                            0.46610153013730005,
+                            -0.5245693145442549
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "sealed end tabs",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch an end tab to tear open the package",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp an end seal to pull or reorient the package during opening",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold one sealed end briefly while transferring the packaged snack",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "seal the package ends",
+                "enable tearing open",
+                "retain contents inside",
+                "provide pull points for opening"
+            ],
+            "semantic_description": "Small crimped plastic end tabs at both package ends, with glossy smooth finish, thin flat shape, and serrated sealed edges. In the visible views one end is yellow and the other green, and some views show printed text or graphics.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Main body description mismatches visible wrapper colors and transparent center; end tabs not one yellow and one green in same view."
+    }
+}

dataset/food/snack/47c57c46000757e59463da94f27c64f7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4a8c6e69e37ee5342d68a355aada9c2b9f74cb37033a01434eb72d6179966a9
+size 3779864

dataset/food/snack/47c57c46000757e59463da94f27c64f7/cheese_sticks_002.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>