Add asset food/beverages/13ec56ad459a58fc87afa9d753d534ef

.gitattributes

@@ -6706,4 +6706,4 @@ dataset/food/beverages/0b87a800c0e8572394ca77d0d7a8221c/affordance/mesh_part_seg
 dataset/food/beverages/0e504668d6ca5ba2badf5d22c35dc7cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/0eefa9d6c5365a55a1de8479b1858824/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/1478aebd773855f49179318b4d6bfed8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/13ec56ad459a58fc87afa9d753d534ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/beverages/13ec56ad459a58fc87afa9d753d534ef/affordance/affordance_annot.json

@@ -0,0 +1,248 @@
+{
+    "affordances": [
+        {
+            "part_name": "front panel of juice carton",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the broad front face together with the back face to pick up the carton",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the front face to stabilize the carton while reorienting it for pouring",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain liquid as part of the carton body",
+                "provide a main grasp surface",
+                "display product branding",
+                "support package structure"
+            ],
+            "semantic_description": "Large flat light pink to white paperboard panel on the main branded face, with a smooth semi-gloss surface, printed peach fruit graphics, Chinese text, and '230mL' marking.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel of juice carton",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposing side panels to lift the carton securely",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold one side panel to reposition the carton on a table",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "contain liquid with the carton body",
+                "provide lateral grasp surface",
+                "stabilize the package",
+                "support structural enclosure"
+            ],
+            "semantic_description": "Tall tapered light pink paperboard side wall with a smooth semi-gloss finish, mostly plain and unbranded, forming one narrow flank of the carton.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back panel of juice carton",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the back face together with the front face to pick up the carton",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the back face to steady the carton during pouring or placement",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain liquid with the carton body",
+                "provide a main grasp surface",
+                "display product information",
+                "support structural enclosure"
+            ],
+            "semantic_description": "Broad light pink paperboard back panel with a smooth semi-gloss finish and little or no printed branding visible, forming the main face opposite the branded front.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top folded closure",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the folded top strip lightly to help manipulate or open the carton",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "use a light grasp on the top fold to steady the carton during handling",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "close the carton top",
+                "seal the liquid container",
+                "guide opening location",
+                "provide a small manipulation feature"
+            ],
+            "semantic_description": "Narrow folded top paperboard strip running across the carton top, visible as a white closure seam in the RGB image with smooth surfaces and crisp folded edges.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.021794220432639122,
+                    "position": [
+                        0.021855745566426776,
+                        0.045698682457441464,
+                        0.13999757962301373
+                    ],
+                    "orientation": {
+                        "w": 0.08338516428458476,
+                        "xyz": [
+                            -0.03610606420033399,
+                            -0.9540045057203775,
+                            0.28568981355731315
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.7722213268280029,
+                    "position": [
+                        0.0720884782349458,
+                        0.002939302852610126,
+                        0.15170056419447064
+                    ],
+                    "orientation": {
+                        "w": 0.22471324449162491,
+                        "xyz": [
+                            0.6815227631650723,
+                            -0.6684371697252334,
+                            -0.19550557835420318
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.7686845064163208,
+                    "position": [
+                        0.12867515358084347,
+                        -0.0005382825329434127,
+                        0.08636501478031278
+                    ],
+                    "orientation": {
+                        "w": 0.34358613215463407,
+                        "xyz": [
+                            -0.6040394676785967,
+                            -0.6232333786704201,
+                            0.3586991036908648
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.7457242012023926,
+                    "position": [
+                        0.07522214027994778,
+                        -0.004194327717414126,
+                        0.15669328765943646
+                    ],
+                    "orientation": {
+                        "w": 0.18396036158233703,
+                        "xyz": [
+                            -0.6729421519060274,
+                            -0.6969300987619069,
+                            0.1661200860651708
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.7382069230079651,
+                    "position": [
+                        0.09078249904268887,
+                        0.0030600315949413925,
+                        0.1283709187991917
+                    ],
+                    "orientation": {
+                        "w": 0.17112652213111276,
+                        "xyz": [
+                            -0.6767384167766707,
+                            -0.6920013458480686,
+                            0.18405153089930043
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.4008652865886688,
+                    "position": [
+                        -0.08102398541814182,
+                        -0.001835316972574219,
+                        0.16168326931074262
+                    ],
+                    "orientation": {
+                        "w": 0.1720342298236495,
+                        "xyz": [
+                            0.6784301309489876,
+                            0.6891832918500299,
+                            0.18751845622306096
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.7708028554916382,
+                    "position": [
+                        0.1300721076404443,
+                        0.006754646688932553,
+                        0.09305207477882504
+                    ],
+                    "orientation": {
+                        "w": 0.3441613348621497,
+                        "xyz": [
+                            -0.6090978435273428,
+                            -0.6174154354938548,
+                            0.35965396231680435
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.4391304552555084,
+                    "position": [
+                        -0.09716534790641163,
+                        0.0002787688572425395,
+                        0.15065179066732526
+                    ],
+                    "orientation": {
+                        "w": 0.18771975529747073,
+                        "xyz": [
+                            -0.682096722015807,
+                            0.6800426934684991,
+                            -0.1924767267657531
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pour spout area",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enable pouring",
+                "serve as opening point",
+                "direct liquid flow",
+                "indicate access location"
+            ],
+            "semantic_description": "Small opening feature near the top edge of the front panel and closure area, visible as a tiny notch or perforation region integrated into the paperboard top.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Part identities are swapped: yellow is front branded face, pink is back/plain face, purple is side panel."
+    }
+}

dataset/food/beverages/13ec56ad459a58fc87afa9d753d534ef/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:242e9fc294a8e2b815f906743a13e8e646a17ee5fc479a8d0c2a64c3bae939c7
+size 3790448