Add asset food/ingredients/6f54422b713957998f541ab55c7f5c33

.gitattributes

@@ -6793,3 +6793,4 @@ dataset/food/ingredients/5ae5638c5df1597abf2106181222995a/affordance/mesh_part_s
 dataset/food/ingredients/5cdbf4e7e9675a96b1f1d227a68afe2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/6f54422b713957998f541ab55c7f5c33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/6f54422b713957998f541ab55c7f5c33/6f54422b713957998f541ab55c7f5c33.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>

dataset/food/ingredients/6f54422b713957998f541ab55c7f5c33/affordance/affordance_annot.json

@@ -0,0 +1,102 @@
+{
+    "affordances": [
+        {
+            "part_name": "potato body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the potato body to pick up and move the potato",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the potato body to stabilize it during inspection or washing",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "reorient the potato by grasping opposite sides of the body",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling",
+                "provide overall structure",
+                "enable reorientation"
+            ],
+            "semantic_description": "Large oval yellow potato body with matte slightly waxy food skin, a firm smooth-to-fine-grained texture, scattered brown speckles and eyes, forming the entire outer mass of the potato.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_10": {
+                    "confidence": 0.8609222769737244,
+                    "position": [
+                        -0.12887049038545229,
+                        0.022443722933530807,
+                        -0.003999170381575823
+                    ],
+                    "orientation": {
+                        "w": 0.7293729649098154,
+                        "xyz": [
+                            0.06856889990237082,
+                            0.6794379856363979,
+                            -0.040956168023857875
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.8606390953063965,
+                    "position": [
+                        0.12764586191042326,
+                        0.04584820754826069,
+                        0.007496272679418325
+                    ],
+                    "orientation": {
+                        "w": 0.6702427231540486,
+                        "xyz": [
+                            0.10081027912728958,
+                            -0.7179622863868638,
+                            0.15856271632218502
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.8605349063873291,
+                    "position": [
+                        0.11740984450443648,
+                        -0.050380485132336617,
+                        0.01641523838043213
+                    ],
+                    "orientation": {
+                        "w": 0.1056118499154168,
+                        "xyz": [
+                            -0.7098725160158913,
+                            0.27249760765756337,
+                            0.6408371103358607
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8601296544075012,
+                    "position": [
+                        -0.09985407759086229,
+                        0.07920997031033039,
+                        0.013852538540959358
+                    ],
+                    "orientation": {
+                        "w": 0.21674000862397313,
+                        "xyz": [
+                            0.6678771897620205,
+                            -0.33065613757982804,
+                            0.6305793738603067
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/6f54422b713957998f541ab55c7f5c33/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3411ed58d7bf0c5d2f886da59e708787986fa2064677e01c04847c828398a12
+size 1752076