Add asset food/snack/b7535479eb9e589bacc245ba4b8ad1c4

.gitattributes

@@ -6885,3 +6885,4 @@ dataset/food/snack/a0d8ca01396056c3a5af46497e3e56f7/affordance/mesh_part_seg.glb
 dataset/food/snack/a6a1dbf0ecec511aaae0221ce93e083d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/b049bc9835cd59f289878f15e294258d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/b7535479eb9e589bacc245ba4b8ad1c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/b7535479eb9e589bacc245ba4b8ad1c4/affordance/affordance_annot.json

@@ -0,0 +1,201 @@
+{
+    "affordances": [
+        {
+            "part_name": "candy body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the central wrapped body to pick up the candy",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the body to stabilize the candy while inspecting or repositioning it",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain the candy",
+                "main grasp surface",
+                "protect the edible contents",
+                "provide package structure"
+            ],
+            "semantic_description": "Rounded pillow-shaped central candy body wrapped in glossy dark brown and orange plastic film with a smooth slightly crinkled surface, medium-sized and centered, printed with Chinese text and decorative graphics.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_10": {
+                    "confidence": 0.7091591954231262,
+                    "position": [
+                        0.02684580351706245,
+                        -0.0966898551560007,
+                        -0.001699656218988821
+                    ],
+                    "orientation": {
+                        "w": 0.5247438073222724,
+                        "xyz": [
+                            -0.3946020268441443,
+                            -0.5948204579949027,
+                            -0.46381224632188517
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.6947307586669922,
+                    "position": [
+                        0.00239935194622376,
+                        -0.10097317904001102,
+                        -0.001793988369172439
+                    ],
+                    "orientation": {
+                        "w": 0.4263608543349641,
+                        "xyz": [
+                            -0.4090841770970664,
+                            -0.5792305608680514,
+                            -0.5615679080004998
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.6890270113945007,
+                    "position": [
+                        0.024709638240892673,
+                        -0.09601334988838062,
+                        0.022726358874933794
+                    ],
+                    "orientation": {
+                        "w": 0.26309904720369737,
+                        "xyz": [
+                            -0.16840088864200856,
+                            -0.7720529014910116,
+                            -0.5534928629751233
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "twisted wrapper end",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a twisted end to pull and start opening the wrapper",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "lightly hold an end to orient the candy during manipulation",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "seal the wrapper",
+                "enable opening by twisting or pulling",
+                "indicate package ends",
+                "secure the contents"
+            ],
+            "semantic_description": "Small flared twisted wrapper ends made of glossy orange plastic film with a thin crinkly texture, extending from both sides of the candy body and narrowing at the tied necks.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_26": {
+                    "confidence": 0.6837790608406067,
+                    "position": [
+                        0.05058080333765247,
+                        -0.08529270201688632,
+                        -0.04249470305512659
+                    ],
+                    "orientation": {
+                        "w": 0.8369228747972777,
+                        "xyz": [
+                            -0.43137178462323583,
+                            -0.3300029352180416,
+                            -0.06765018713574716
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.6766036748886108,
+                    "position": [
+                        0.0606263429253886,
+                        -0.0894952392554842,
+                        -0.01752256412873976
+                    ],
+                    "orientation": {
+                        "w": 0.7642977879260527,
+                        "xyz": [
+                            -0.45655593429630786,
+                            -0.44309003963961735,
+                            -0.105246315861078
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.6701231598854065,
+                    "position": [
+                        -0.026744961705844617,
+                        0.07363482803339139,
+                        0.05783393609453924
+                    ],
+                    "orientation": {
+                        "w": 0.2888381767321121,
+                        "xyz": [
+                            0.2897268357483465,
+                            0.8314458457840617,
+                            -0.37593706100589047
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.6590721011161804,
+                    "position": [
+                        -0.039339154925983166,
+                        -0.08150312065845355,
+                        0.026371819927589968
+                    ],
+                    "orientation": {
+                        "w": 0.46608107342972266,
+                        "xyz": [
+                            -0.759447663409867,
+                            -0.233559837595686,
+                            -0.38917538693263737
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.6553144454956055,
+                    "position": [
+                        -0.07780778777305386,
+                        0.0003267500032961834,
+                        0.06787318739225157
+                    ],
+                    "orientation": {
+                        "w": 0.06317669265207962,
+                        "xyz": [
+                            -0.912944093753443,
+                            0.062239456806853555,
+                            -0.39833156691710664
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wrapper neck tie",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the body to the twisted ends",
+                "constrict and seal the wrapper",
+                "maintain package closure",
+                "mark the transition between body and ends"
+            ],
+            "semantic_description": "Tiny ring-like neck sections at each side where the wrapper is cinched, appearing as tight smooth glossy orange plastic with compact gathered folds between the main body and twisted ends.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/snack/b7535479eb9e589bacc245ba4b8ad1c4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:619541a97e24c69b67abfe1b0010f427c871aefde99855a8ef7ec14236f0486b
+size 3780124

dataset/food/snack/b7535479eb9e589bacc245ba4b8ad1c4/candy_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>