Add asset food/beverages/4b0f934a345f565f807e9b90c7bdab86

.gitattributes

@@ -6715,3 +6715,4 @@ dataset/food/beverages/27971a3c8b1f537292a04fa90716c7b7/affordance/mesh_part_seg
 dataset/food/beverages/2ce27d0384335ce0ac6cb1f00d1db660/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/3e6adfe99d7a58768cbe66ea047ed392/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/474f06d3aec0531f92cdd170b3339b0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/affordance/affordance_annot.json

@@ -0,0 +1,251 @@
+{
+    "affordances": [
+        {
+            "part_name": "front upper panel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front upper panel together with another side face to lift or reposition the carton",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the front upper panel to stabilize the carton during pouring or opening",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "form the sloped upper front wall",
+                "provide a front grasp surface",
+                "support printed branding",
+                "help orient the front face"
+            ],
+            "semantic_description": "Large white coated paperboard upper front panel with a matte smooth surface, slanted polygonal shape, and bold green Chinese text on the front-facing side.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_61": {
+                    "confidence": 0.5143115520477295,
+                    "position": [
+                        0.007897074159700423,
+                        -0.011367281782440841,
+                        -0.13046708796173334
+                    ],
+                    "orientation": {
+                        "w": 0.7089358000216864,
+                        "xyz": [
+                            0.07614804602276856,
+                            -0.07026181115270391,
+                            -0.6976208027489346
+                        ]
+                    }
+                },
+                "grasp_76": {
+                    "confidence": 0.3731738030910492,
+                    "position": [
+                        -0.029889770958106965,
+                        -0.014347804593853652,
+                        -0.13664709124714136
+                    ],
+                    "orientation": {
+                        "w": 0.7135277166654006,
+                        "xyz": [
+                            -0.01615858536165455,
+                            0.009707703570342008,
+                            -0.7003733705394294
+                        ]
+                    }
+                },
+                "grasp_79": {
+                    "confidence": 0.34868893027305603,
+                    "position": [
+                        -0.012443700979929417,
+                        -0.015394645626656711,
+                        -0.13907715771347284
+                    ],
+                    "orientation": {
+                        "w": 0.7126439763663229,
+                        "xyz": [
+                            -0.013624701814573323,
+                            0.002447888770132689,
+                            -0.7013892915420288
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper side panel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper side panel to lift or reposition the carton",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the side panel to steady the carton while opening or pouring",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "form an upper side wall",
+                "provide a side grasp surface",
+                "support product printing",
+                "enclose contents"
+            ],
+            "semantic_description": "Large white coated paperboard upper side panel with a matte smooth finish, slanted shape, and a large green graphic area with small printed text.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_82": {
+                    "confidence": 0.5724865198135376,
+                    "position": [
+                        -0.021908548835199326,
+                        0.016074091312475502,
+                        -0.13568478915840387
+                    ],
+                    "orientation": {
+                        "w": 0.7126388859227468,
+                        "xyz": [
+                            0.037920648734171954,
+                            0.006886566899001578,
+                            0.7004715682072408
+                        ]
+                    }
+                },
+                "grasp_96": {
+                    "confidence": 0.47019052505493164,
+                    "position": [
+                        0.04858804197283462,
+                        0.020005859551019967,
+                        -0.1373447785153985
+                    ],
+                    "orientation": {
+                        "w": 0.6979997395415996,
+                        "xyz": [
+                            -0.010167320097410186,
+                            -0.041379777846003996,
+                            0.7148291426539014
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper back panel",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper back panel to pick up or rotate the carton",
+                    "confidence": 0.75
+                },
+                {
+                    "scenario": "hold the back panel to stabilize the carton during handling",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "form the upper back wall",
+                "provide a rear grasp surface",
+                "carry printed information",
+                "enclose contents"
+            ],
+            "semantic_description": "Upper back paperboard panel in dark green with a matte smooth surface, broad slanted shape, and dense white printed label text.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_35": {
+                    "confidence": 0.2657232880592346,
+                    "position": [
+                        -0.12301858811406419,
+                        -0.07200983155053109,
+                        0.010813598521053791
+                    ],
+                    "orientation": {
+                        "w": 0.660715175340731,
+                        "xyz": [
+                            -0.31806935747177445,
+                            0.6757965861043516,
+                            0.07474165586647932
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower body panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower body from opposite sides to lift the carton securely",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the lower body to stabilize the carton on a surface",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain the lower liquid volume",
+                "provide the main grasp area",
+                "support the carton when standing",
+                "display decorative graphics"
+            ],
+            "semantic_description": "Large light green coated paperboard lower body panel with a matte smooth finish, broad tapered box shape, and darker green illustrated farm or vegetable graphics near the bottom.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower end panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the narrow end panel together with an adjacent face to rotate or reposition the carton",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "pinch the narrow end while supporting the base to adjust orientation",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "form a narrow lower end wall",
+                "provide a secondary grasp surface",
+                "support structural rigidity",
+                "help define carton orientation"
+            ],
+            "semantic_description": "Narrow green coated paperboard lower end panel with a matte smooth finish, vertical tapered shape, located on a narrow side of the carton.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "folded top seam",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top seam lightly to orient or manipulate the carton for opening",
+                    "confidence": 0.49
+                },
+                {
+                    "scenario": "grasp the seam lightly to start separating the top flaps",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "seal the carton top",
+                "guide opening action",
+                "indicate the top edge",
+                "stiffen the folded roof"
+            ],
+            "semantic_description": "Thin folded paperboard ridge along the carton roof, white with small green printing, matte and slightly rough at the edges, narrow and raised at the top center.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part names/descriptions mismatch masks and visible faces; lower panels are misidentified by color and position."
+    }
+}

dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f567fcd2b9a375a68d494d7d18e3121fe3c11b937619271e77b7816a5357b0b4
+size 3789152