Add asset food/snack/e45ddb4b0d9b57948ffefa48132df0e9

.gitattributes

@@ -6895,3 +6895,4 @@ dataset/food/snack/d7879e73e54754d995ab4d2f9e5360a1/affordance/mesh_part_seg.glb
 dataset/food/snack/dabf601448aa59f580418c87ad1902de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/df28cf9d7e4752f8a04ae3c62a824dd6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/e33d34b26a265b3785e4b6d54e088554/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/e45ddb4b0d9b57948ffefa48132df0e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/e45ddb4b0d9b57948ffefa48132df0e9/affordance/affordance_annot.json

@@ -0,0 +1,129 @@
+{
+    "affordances": [
+        {
+            "part_name": "bag body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main pouch at the sides to pick up and move the potato chips bag",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "squeeze and hold the bag body to stabilize it while dispensing chips",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "grasp the lower body to reposition the standing bag on a surface",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain potato chips",
+                "provide main grasp surface",
+                "support standing base shape",
+                "display product branding"
+            ],
+            "semantic_description": "Large light green flexible plastic pouch with a semi-gloss smooth crinkly surface, broad tapered shape, rounded gusseted bottom, and printed graphics and barcode panels on the front and back.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top seal",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the sealed top edge to lift or carry the bag lightly",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "grasp the top seam to tear or open the potato chips bag",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the top edge to steady the bag while another tool manipulates it",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "seal the package opening",
+                "provide tear-open edge",
+                "help reorient the bag from the top",
+                "retain contents before opening"
+            ],
+            "semantic_description": "Narrow horizontal sealed strip along the bag top, made of the same light green plastic film with a slightly thicker crimped edge, smooth finish, and thin elongated shape at the uppermost opening.",
+            "id": 13,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.974740743637085,
+                    "position": [
+                        -0.009234345983713865,
+                        0.1276124751311727,
+                        0.16100377589464188
+                    ],
+                    "orientation": {
+                        "w": 0.01486123122579934,
+                        "xyz": [
+                            0.004404179741056734,
+                            0.8681000663294799,
+                            -0.49614717760561106
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.9729984402656555,
+                    "position": [
+                        -0.005365903489291668,
+                        0.12688273546518758,
+                        0.16128403693437576
+                    ],
+                    "orientation": {
+                        "w": 0.010420209876199042,
+                        "xyz": [
+                            0.02529700975539468,
+                            0.8752495977711732,
+                            -0.4828971133947384
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.9725225567817688,
+                    "position": [
+                        -0.006707840133458376,
+                        0.1265433764201589,
+                        0.16172220557928085
+                    ],
+                    "orientation": {
+                        "w": 0.02340468097254833,
+                        "xyz": [
+                            0.0192927099567111,
+                            0.8771447883720653,
+                            -0.47926718277264135
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.969748318195343,
+                    "position": [
+                        -0.0053046406246721745,
+                        0.12668885645689443,
+                        0.15738647431135178
+                    ],
+                    "orientation": {
+                        "w": 0.0035626374968799907,
+                        "xyz": [
+                            0.015729899372326137,
+                            0.8700936348346929,
+                            -0.49262251724820144
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/snack/e45ddb4b0d9b57948ffefa48132df0e9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98183c3e3b78d49ad5cd2492e211331854afb7b87bb64da67e88fe4228def5fb
+size 3778288

dataset/food/snack/e45ddb4b0d9b57948ffefa48132df0e9/potato_chips_010.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>