Add asset food/snack/10bfe27fbe1f564d91bad844554b33c3

.gitattributes

@@ -6851,3 +6851,4 @@ dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/affordance/mesh_part_s
 dataset/food/ingredients/f9a8669b3e885603ac45b934900307f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/fedd55b945335b31b0041de7bf63f397/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/10bfe27fbe1f564d91bad844554b33c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/10bfe27fbe1f564d91bad844554b33c3/affordance/affordance_annot.json

@@ -0,0 +1,179 @@
+{
+    "affordances": [
+        {
+            "part_name": "candy wrapper body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the central wrapped body to pick up the candy",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the middle body to stabilize the candy while positioning it",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain the candy",
+                "protect the food",
+                "main grasp surface",
+                "provide printed product information"
+            ],
+            "semantic_description": "Rounded central wrapper section made of thin glossy plastic film, mostly dark brown with an orange lower panel visible on some views, printed Chinese text and logo, smooth with slight crinkling near the gathered ends.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8196914196014404,
+                    "position": [
+                        0.030972858716268092,
+                        -0.09448457692633383,
+                        -0.016705763294339704
+                    ],
+                    "orientation": {
+                        "w": 0.6884930610563984,
+                        "xyz": [
+                            -0.44818419984929697,
+                            -0.45276576353744835,
+                            -0.3465709036416458
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.7787432074546814,
+                    "position": [
+                        -0.00022386672208085656,
+                        -0.10054236088762991,
+                        -0.006225582911611127
+                    ],
+                    "orientation": {
+                        "w": 0.5853765553921679,
+                        "xyz": [
+                            -0.5474456511672261,
+                            -0.4103962690705646,
+                            -0.43498557418407935
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "twisted wrapper end",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a twisted end to lift or drag the wrapped candy",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "pinch a twisted end to start opening the wrapper",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold one end to stabilize the candy during manipulation",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "seal the wrapper",
+                "enable opening by twisting or pulling",
+                "provide a small pinch point",
+                "indicate package ends"
+            ],
+            "semantic_description": "Small twisted tail at each side made of orange glossy plastic film, with a thin crinkly texture and tapered wrinkled shape extending from the candy body.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.7955140471458435,
+                    "position": [
+                        0.020401593123096973,
+                        -0.09469527189503424,
+                        -0.04559654067361407
+                    ],
+                    "orientation": {
+                        "w": 0.8265896315653778,
+                        "xyz": [
+                            -0.47173316063166854,
+                            -0.2424548895675489,
+                            -0.18823664009394456
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.7670918703079224,
+                    "position": [
+                        0.047495115373749286,
+                        0.0784473102830816,
+                        -0.05278154532516055
+                    ],
+                    "orientation": {
+                        "w": 0.8661366420016867,
+                        "xyz": [
+                            0.43004778531005844,
+                            -0.2345111018844659,
+                            -0.09935171274260726
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.7536284327507019,
+                    "position": [
+                        0.03991831449093297,
+                        -0.09040294770966284,
+                        -0.04218038986527972
+                    ],
+                    "orientation": {
+                        "w": 0.8375002046807205,
+                        "xyz": [
+                            -0.4758127264397857,
+                            -0.26506847631891184,
+                            -0.043981352635624964
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wrapper neck",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the narrow gathered neck to start opening or to hold the candy briefly",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "connect the end twist to the body",
+                "gather the wrapper film",
+                "help retain the sealed shape",
+                "provide a narrow pinch point near the seal"
+            ],
+            "semantic_description": "Very small gathered ring where the wrapper cinches near each end, appearing as a narrow orange crimped band of glossy plastic with tight wrinkles between the body and twisted tail.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.675970196723938,
+                    "position": [
+                        0.05716974270762876,
+                        0.08331690545310266,
+                        0.04298390005624242
+                    ],
+                    "orientation": {
+                        "w": 0.40434766625431673,
+                        "xyz": [
+                            0.24203223308649935,
+                            -0.8193198703832947,
+                            0.32655522187977726
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Central body color description is inaccurate; body includes large orange panel, not mostly dark brown."
+    }
+}

dataset/food/snack/10bfe27fbe1f564d91bad844554b33c3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:937f0812bdecc64fd65aabf81a1175ab606d2e4a827bc9763f09180bd8a01e6f
+size 3780660

dataset/food/snack/10bfe27fbe1f564d91bad844554b33c3/candy_002.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>