Add asset food/beverages/289623b44a705b80bfd7758b298f4b68

.gitattributes

@@ -6710,3 +6710,4 @@ dataset/food/beverages/1478aebd773855f49179318b4d6bfed8/affordance/mesh_part_seg
 dataset/food/beverages/1a29b165d8c654b6907ad84ca139fbd3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/25a6c1716d475b0dbdf032eedce4df1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/24e6da9980925a02bee96e209ec5aae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/289623b44a705b80bfd7758b298f4b68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/beverages/289623b44a705b80bfd7758b298f4b68/affordance/affordance_annot.json

@@ -0,0 +1,101 @@
+{
+    "affordances": [
+        {
+            "part_name": "carton body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up and transport the carton",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to stabilize the carton while unscrewing or tightening the cap",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the body to tilt and pour contents",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide main structural support",
+                "provide main grasp surface",
+                "support pouring orientation",
+                "display printed branding"
+            ],
+            "semantic_description": "Large tapered paperboard carton body with mostly white printed faces and tan brick-patterned side panels, a matte smooth surface, and blue label graphics on the front.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "folded top seam",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly pinch the folded top seam to steady or orient the carton during handling",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "seal the carton top",
+                "reinforce the folded top closure",
+                "indicate top orientation"
+            ],
+            "semantic_description": "Narrow white folded paperboard strip running along the top ridge, with an elongated slot-like opening, matte finish, and crisp creased edges above the sloped top panels.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "screw cap",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp and twist the cap to open the carton",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp and twist the cap to close and reseal the carton",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "delicately pinch the cap to help orient the top of the carton",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "open the spout",
+                "reseal the container",
+                "control liquid dispensing",
+                "provide a twisting interface"
+            ],
+            "semantic_description": "Small round white plastic cap near the upper sloped face, with a ribbed matte exterior, hard smooth material, and a shallow cylindrical shape for twisting.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.22638344764709473,
+                    "position": [
+                        0.014678966952487826,
+                        -0.1279668074566871,
+                        0.01504161924822256
+                    ],
+                    "orientation": {
+                        "w": 0.4918120096412088,
+                        "xyz": [
+                            -0.5359986740250736,
+                            0.4614094272347544,
+                            0.507865837672642
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/beverages/289623b44a705b80bfd7758b298f4b68/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd67a9b282f377efb3a3428d552a396d16ab63ef5dd36c5ad9f4a64445bbf60f
+size 3779260

dataset/food/beverages/289623b44a705b80bfd7758b298f4b68/milk_carton_010.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>