Add asset food/snack/21465c41fd6f545aaaf0818652a5ef39

.gitattributes

@@ -6857,3 +6857,4 @@ dataset/food/snack/194da09669c0587892933c39a86fb4d4/affordance/mesh_part_seg.glb
 dataset/food/ingredients/f8ee460103145500805dee37553b1fdb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/1c48c47e83c5593e8d38adb630f6fb7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/1dda1b316dca5834b8cf91a767cb4347/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/21465c41fd6f545aaaf0818652a5ef39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/21465c41fd6f545aaaf0818652a5ef39/affordance/affordance_annot.json

@@ -0,0 +1,189 @@
+{
+    "affordances": [
+        {
+            "part_name": "wrapper body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle of the wrapped snack stick to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the main wrapper body to move or place the package",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "stabilize the package body while pulling open one sealed end",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain the snack stick",
+                "protect the food",
+                "provide main grasp surface",
+                "display product branding"
+            ],
+            "semantic_description": "Long narrow white to light-cream plastic film wrapper with a smooth slightly glossy surface and soft flexible form, making up the main central package area.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "sealed end fin",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a sealed end fin to start tearing the package open",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp an end fin to pull and reorient the snack packet",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "seal the package end",
+                "enable opening by tearing",
+                "provide pull area",
+                "retain package contents"
+            ],
+            "semantic_description": "Short blue crimped plastic end section with a ribbed zigzag edge, glossy finish, and thin flexible shape located at one end of the wrapper.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.58119136095047,
+                    "position": [
+                        0.0014645466727642997,
+                        -0.10992722088121809,
+                        -0.00859116915944469
+                    ],
+                    "orientation": {
+                        "w": 0.5591914050070169,
+                        "xyz": [
+                            -0.527245814568786,
+                            -0.4265862328837695,
+                            -0.47680290424871635
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.4291791319847107,
+                    "position": [
+                        -0.04818193647940916,
+                        0.07507734125829302,
+                        0.014029863622454286
+                    ],
+                    "orientation": {
+                        "w": 0.40712195593807415,
+                        "xyz": [
+                            0.6668103962778119,
+                            -0.3312859227883723,
+                            0.5290229161116188
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.4259420335292816,
+                    "position": [
+                        -0.04999503899296087,
+                        0.0734630984661635,
+                        0.010618729848829389
+                    ],
+                    "orientation": {
+                        "w": 0.5476582865760892,
+                        "xyz": [
+                            0.3499968618969096,
+                            0.6587890405252308,
+                            -0.3789057902575566
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "sealed end fin",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a sealed end fin to start tearing the package open",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp an end fin to pull and reorient the snack packet",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "seal the package end",
+                "enable opening by tearing",
+                "provide pull area",
+                "retain package contents"
+            ],
+            "semantic_description": "Short blue crimped plastic end section with a ribbed zigzag edge, glossy finish, and thin flexible shape located at the opposite end of the wrapper.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side seam of wrapper",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join wrapper layers",
+                "maintain package shape",
+                "help seal the contents"
+            ],
+            "semantic_description": "Thin longitudinal sealed strip along one side of the plastic wrapper, appearing as a narrow raised seam with a smooth glossy finish and minimal width.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cheese stick illustration",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate product contents",
+                "provide package graphics",
+                "help identify the snack type"
+            ],
+            "semantic_description": "Small printed beige cheese-stick shaped graphic on the wrapper face, flat and smooth as part of the package artwork, positioned on the front panel.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed logo text",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display brand information",
+                "label the product",
+                "provide visual identification"
+            ],
+            "semantic_description": "Large bold blue printed characters and lettering on the white wrapper, flat glossy ink markings located across the front face.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "secondary printed text",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide product information",
+                "label flavor or details",
+                "support packaging graphics"
+            ],
+            "semantic_description": "Smaller printed text elements on the wrapper surface, appearing as flat smooth ink markings near the main branding.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and part identities are mismatched; logo/text colors and end-fin color descriptions do not match the images."
+    }
+}

dataset/food/snack/21465c41fd6f545aaaf0818652a5ef39/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81a8eece8450e1da1810b9b1d388c093458fa7da985f9dd8fb0b849eb4b1b021
+size 3796880

dataset/food/snack/21465c41fd6f545aaaf0818652a5ef39/cheese_sticks_005.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>