Add asset food/snack/8dd5b13c60825d9f8e872cd61d46e80a

.gitattributes

@@ -6879,3 +6879,4 @@ dataset/food/snack/6ffb64fbcb8e5749b353eb3fe574f5ac/affordance/mesh_part_seg.glb
 dataset/food/snack/80f6b2cb35fc5f478d6d8a5961a1d403/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/83d75a5a00db543ba91c638eaaff5cc9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/8dd5b13c60825d9f8e872cd61d46e80a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/8dd5b13c60825d9f8e872cd61d46e80a/affordance/affordance_annot.json

@@ -0,0 +1,209 @@
+{
+    "affordances": [
+        {
+            "part_name": "wrapper body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle of the wrapped candy to pick it up and move it",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the wrapper body to stabilize the package while opening one end",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch the body lightly to reorient the candy on a surface",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "contain the candy",
+                "protect the food",
+                "main grasp surface",
+                "provide packaging surface for printing",
+                "support handling and transport"
+            ],
+            "semantic_description": "Long rectangular plastic wrapper forming the main body of the package, predominantly blue on the front with a white lower wave-shaped area and printed branding and shark artwork; glossy, smooth, and slightly crinkly.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.762736439704895,
+                    "position": [
+                        -0.0019326153696965775,
+                        0.1037331655388698,
+                        -0.0034026055545837153
+                    ],
+                    "orientation": {
+                        "w": 0.4757944058253734,
+                        "xyz": [
+                            0.4530359605735734,
+                            -0.5268920514536293,
+                            0.5392243206008481
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.761324942111969,
+                    "position": [
+                        -0.008004357411664387,
+                        0.10105667111929506,
+                        0.014373944239196135
+                    ],
+                    "orientation": {
+                        "w": 0.43739985323356667,
+                        "xyz": [
+                            0.5075025681647972,
+                            -0.5460677384337963,
+                            0.5029239870389847
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.7463768124580383,
+                    "position": [
+                        -0.015001166916590591,
+                        0.10166131553705782,
+                        0.0029981370134919416
+                    ],
+                    "orientation": {
+                        "w": 0.4970042933226632,
+                        "xyz": [
+                            0.44387552051400775,
+                            0.5584733183961921,
+                            -0.49403320470066
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.7446430921554565,
+                    "position": [
+                        -0.007684124007028004,
+                        0.10000416485127062,
+                        0.001530109304439975
+                    ],
+                    "orientation": {
+                        "w": 0.514952197334224,
+                        "xyz": [
+                            0.5104678578919262,
+                            0.4976476663500755,
+                            -0.47601848776723643
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "left sealed end fin",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the sealed fin to start tearing open the package",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the fin while pulling the wrapper from the opposite side",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "seal one end of the package",
+                "help retain contents",
+                "provide a tear-start area",
+                "define package boundary"
+            ],
+            "semantic_description": "Narrow crimped fin at one short end of the wrapper, made of the same glossy flexible plastic film, flat and serrated along the sealed edge.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right sealed end fin",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the opposite sealed fin to open the wrapper from that side",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "use the fin as a small holding point while repositioning the package",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "seal the opposite end of the package",
+                "help retain contents",
+                "provide a second tear-start area",
+                "define package boundary"
+            ],
+            "semantic_description": "Narrow crimped fin at the other short end of the wrapper, formed from glossy plastic film with a flat tapered shape and serrated heat-sealed edge.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.4169267416000366,
+                    "position": [
+                        0.061301503025788406,
+                        -0.0645259782904759,
+                        0.022021053457137896
+                    ],
+                    "orientation": {
+                        "w": 0.5395708904419667,
+                        "xyz": [
+                            -0.2752865999443161,
+                            -0.7162022847651458,
+                            -0.34660471632097895
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "brand logo print area",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display brand logo",
+                "identify product",
+                "provide printed package information"
+            ],
+            "semantic_description": "Rounded red logo print on the front face of the wrapper with white characters, printed on the glossy plastic near the upper central area.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "shark illustration",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display product artwork",
+                "provide visual theme",
+                "help product recognition"
+            ],
+            "semantic_description": "Brown shark graphic printed on the front of the wrapper, a flat decorative illustration occupying a noticeable portion of the package face.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small text/icon print",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display small printed information",
+                "show decorative or branding detail",
+                "provide package markings"
+            ],
+            "semantic_description": "Small printed text and icon elements on the front face of the wrapper, appearing mainly as yellow and white markings on the glossy plastic between the larger logo and shark illustration.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Printed parts have wrong colors/shapes and over-segment decorative areas as physical parts; mask color assignments for left/right ends are inconsistent across views."
+    }
+}

dataset/food/snack/8dd5b13c60825d9f8e872cd61d46e80a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:511f196d4fbaac08bd5e54b867e8283f89f982f6c39bdd6452284f15324a8955
+size 3784992

dataset/food/snack/8dd5b13c60825d9f8e872cd61d46e80a/chocolate_008.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>NO: {"summary":"Packaging graphics are segmented instead of functional chocolate parts; wrapper body and sealed ends are acceptable.","merge_groups":[]}</PartSegChecker>