Add asset food/ingredients/4d0ccd2d65f9534f86ca60fef24f3f08

.gitattributes

@@ -6785,3 +6785,4 @@ dataset/food/ingredients/43b757b2d85051bbaec62e136a506dba/affordance/mesh_part_s
 dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/45d4fda4ddd75c9fb8eca992e39f823a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/4d0ccd2d65f9534f86ca60fef24f3f08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/4d0ccd2d65f9534f86ca60fef24f3f08/affordance/affordance_annot.json

@@ -0,0 +1,138 @@
+{
+    "affordances": [
+        {
+            "part_name": "top crust",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the loaf around the upper sidewalls and top crust to pick it up",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the top crust area to stabilize the loaf during placement or repositioning",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "form the baked outer shell on the top of the loaf",
+                "protect the softer interior",
+                "help maintain loaf shape",
+                "provide a firmer exterior surface for handling"
+            ],
+            "semantic_description": "Very dark brown to nearly black baked crust covering the domed top and upper side areas of the loaf, with a matte slightly rough finish, rounded rectangular shape, a long central score on top, and scattered pale speckles.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.7996450066566467,
+                    "position": [
+                        -0.03345829946920276,
+                        -0.02115671115461737,
+                        0.13884648866951466
+                    ],
+                    "orientation": {
+                        "w": 0.013515971374814313,
+                        "xyz": [
+                            0.7465069105516031,
+                            -0.665117735693834,
+                            -0.012772966844185489
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.7664365172386169,
+                    "position": [
+                        -0.050446904730051756,
+                        -0.020357744419015944,
+                        0.13893129117786884
+                    ],
+                    "orientation": {
+                        "w": 0.010719374507797964,
+                        "xyz": [
+                            -0.6980212505677329,
+                            -0.7156269791589863,
+                            -0.02300989930016724
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.7403515577316284,
+                    "position": [
+                        -0.050248953979462385,
+                        -0.022655591019429266,
+                        0.13096465356647968
+                    ],
+                    "orientation": {
+                        "w": 0.053010238944877185,
+                        "xyz": [
+                            -0.7214545130915989,
+                            0.6904194406047982,
+                            0.003781023899545057
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.7311537861824036,
+                    "position": [
+                        -0.005725454073399305,
+                        -0.012791659333743155,
+                        0.13720996864140034
+                    ],
+                    "orientation": {
+                        "w": 0.05584130850108055,
+                        "xyz": [
+                            0.7130039547976715,
+                            -0.695665233355675,
+                            -0.06750549465014798
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower side and end crust",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the loaf around the lower side crust near the base edge to lift it",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "support the loaf by contacting the lower side and end crust during transfer or placement",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "form the baked lower outer shell around the loaf sides and ends",
+                "support contact with surrounding surfaces near the base perimeter",
+                "protect the interior from side impacts and handling",
+                "provide a stable exterior area for handling and placement"
+            ],
+            "semantic_description": "Medium brown to tan baked crust forming the lower sidewalls and end faces of the loaf below the darker top crust. It has a smoother matte finish than the top crust, rounded edges, and a firm baked appearance.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_12": {
+                    "confidence": 0.8287854194641113,
+                    "position": [
+                        -0.03518963558599353,
+                        -0.13241093943361193,
+                        -0.004461513366550207
+                    ],
+                    "orientation": {
+                        "w": 0.47764690015210226,
+                        "xyz": [
+                            -0.5360339495729295,
+                            0.45981966943277375,
+                            0.522577185957317
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/4d0ccd2d65f9534f86ca60fef24f3f08/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e396b1e2c7ab181caf77f3a9f4e27c15d3f44dc397770ae2f4ea331126052d4b
+size 3781276