Add asset food/snack/127ace8d5e6e53ae85bc191476a102a1

.gitattributes

@@ -6852,3 +6852,4 @@ dataset/food/ingredients/f9a8669b3e885603ac45b934900307f0/affordance/mesh_part_s
 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/127ace8d5e6e53ae85bc191476a102a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/affordance/affordance_annot.json

@@ -0,0 +1,134 @@
+{
+    "affordances": [
+        {
+            "part_name": "biscuit package",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sides of the package to pick it up from a shelf or table",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "pinch the upper sealed area to lift or reposition the package",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the package body to stabilize it while opening or pouring out biscuits",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "contain biscuits",
+                "protect contents",
+                "provide main grasp surface",
+                "support storage and transport",
+                "present product branding"
+            ],
+            "semantic_description": "Flexible stand-up plastic pouch with a glossy smooth surface, mostly dark brown with red sections, medium-sized and tapered upward, featuring printed biscuit images and white product text on the front.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9682598114013672,
+                    "position": [
+                        0.001143002009484917,
+                        0.012362933368422091,
+                        -0.15539036132395267
+                    ],
+                    "orientation": {
+                        "w": 0.02854002856437747,
+                        "xyz": [
+                            -0.009813639936419498,
+                            -0.004682371779302974,
+                            -0.9995335085104763
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9673988819122314,
+                    "position": [
+                        -0.0031988106202334166,
+                        -0.006566493189893663,
+                        -0.1565456185489893
+                    ],
+                    "orientation": {
+                        "w": 0.024138325712250584,
+                        "xyz": [
+                            0.03672549256140223,
+                            0.011721721277605512,
+                            0.9989650547833101
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.967370867729187,
+                    "position": [
+                        -0.002556170104071498,
+                        0.006166922044940293,
+                        -0.15419181622564793
+                    ],
+                    "orientation": {
+                        "w": 0.02887951743556964,
+                        "xyz": [
+                            0.01908317889084725,
+                            0.012012446804542942,
+                            0.9993285280016159
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.965694785118103,
+                    "position": [
+                        -0.00028226315043866634,
+                        -0.15139354148413986,
+                        0.10012980364263058
+                    ],
+                    "orientation": {
+                        "w": 0.7130891914619834,
+                        "xyz": [
+                            -0.7009388951696969,
+                            0.010321380218354048,
+                            0.009052036719348988
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.964984655380249,
+                    "position": [
+                        0.0006910947849974036,
+                        0.0055593695724383,
+                        -0.15927510894834995
+                    ],
+                    "orientation": {
+                        "w": 0.024270014256527122,
+                        "xyz": [
+                            0.023423955653163086,
+                            -0.011276068560164165,
+                            0.9993673673816718
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9646132588386536,
+                    "position": [
+                        0.002595598576590419,
+                        -0.009809409617446363,
+                        -0.15752504207193851
+                    ],
+                    "orientation": {
+                        "w": 0.9999331814324863,
+                        "xyz": [
+                            0.002235574104065894,
+                            0.006385612862707668,
+                            0.009373303958562108
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05cf367e59167117d87143b9f1ee49d09aea35462e94fe7b7f70d6ec052909bd
+size 3777008

dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/biscuit_009.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>