Add asset food/ingredients/995b28747be559b986a9dff573bc937f

.gitattributes

@@ -6806,3 +6806,4 @@ dataset/food/ingredients/91e95b81acbc50a99a0d3dad84ae159d/affordance/mesh_part_s
 dataset/food/ingredients/92be645194ed57f09e8638886257ac26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/967da2d6838d5ad0998e2a79993d8afa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/96be6c1c0191583495c81defa16bf28f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/995b28747be559b986a9dff573bc937f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/995b28747be559b986a9dff573bc937f/affordance/affordance_annot.json

@@ -0,0 +1,153 @@
+{
+    "affordances": [
+        {
+            "part_name": "tomato body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tomato body to pick up and move the tomato",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the tomato body to stabilize it during inspection or cutting preparation",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh and juice",
+                "support handling",
+                "provide bulk shape"
+            ],
+            "semantic_description": "Large round slightly lobed tomato body with glossy yellow skin, a smooth firm surface, and no visible markings, forming nearly all of the fruit mass beneath the top crown.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "calyx and stem",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem-calyx area to orient the tomato",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "lightly pinch the stem area to reposition the tomato briefly",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "connect to vine",
+                "protect the top of the fruit",
+                "indicate top orientation",
+                "assist delicate repositioning"
+            ],
+            "semantic_description": "Small green leafy calyx with a short central stem, likely fibrous plant material, matte to slightly satin, thin and somewhat rough, spreading from the tomato top as narrow pointed lobes.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.44714441895484924,
+                    "position": [
+                        -0.005184974783333018,
+                        0.013280912884511054,
+                        0.13473453652113676
+                    ],
+                    "orientation": {
+                        "w": 0.07652467020376887,
+                        "xyz": [
+                            0.5349728455946283,
+                            0.839728403645141,
+                            -0.052955051111052365
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.6136360764503479,
+                    "position": [
+                        0.008444635866908357,
+                        -0.004274567472748458,
+                        0.13262089621275663
+                    ],
+                    "orientation": {
+                        "w": 0.04451098347738437,
+                        "xyz": [
+                            -0.6620706674860262,
+                            -0.7478936324264875,
+                            0.018338979807998857
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.5601946115493774,
+                    "position": [
+                        0.08253269057604484,
+                        -0.033065327792428434,
+                        0.09522538166493177
+                    ],
+                    "orientation": {
+                        "w": 0.362881536831928,
+                        "xyz": [
+                            -0.6790716349438454,
+                            -0.593318208290503,
+                            0.23484507351046935
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.5842364430427551,
+                    "position": [
+                        0.07218620341154747,
+                        -0.04385480412747711,
+                        0.09799741487950087
+                    ],
+                    "orientation": {
+                        "w": 0.3566192581391393,
+                        "xyz": [
+                            -0.7440013402291026,
+                            -0.5353609816598813,
+                            0.18075765482478864
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.5715775489807129,
+                    "position": [
+                        0.013622440135804936,
+                        5.656632129102945e-05,
+                        0.1326997233554721
+                    ],
+                    "orientation": {
+                        "w": 0.05218097922796261,
+                        "xyz": [
+                            -0.5909068530955675,
+                            -0.8033421193917548,
+                            0.05241827527368632
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.5697218179702759,
+                    "position": [
+                        -0.06832369256881066,
+                        -0.04978261643555015,
+                        0.09603102039545774
+                    ],
+                    "orientation": {
+                        "w": 0.38204677261114467,
+                        "xyz": [
+                            -0.7210367545367027,
+                            0.5605886946040743,
+                            -0.1410197774309949
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/995b28747be559b986a9dff573bc937f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2263600179cc4cf005123873848ffbfdc99018fe23e2dbf05e3f08d6bc2f0c1b
+size 684692