Add asset food/ingredients/31e3ede73fe656658616f2ed020e269f

.gitattributes

@@ -6779,3 +6779,4 @@ dataset/food/ingredients/2baa38c381495b1d925c580b32002523/affordance/mesh_part_s
 dataset/food/ingredients/2d9adc3a7e1753a4a33c6991da0a06a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/2f31765704495c429ae7172cb7d1f511/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/309c952517fc5a97ab31359c3e104cbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/31e3ede73fe656658616f2ed020e269f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/31e3ede73fe656658616f2ed020e269f/affordance/affordance_annot.json

@@ -0,0 +1,105 @@
+{
+    "affordances": [
+        {
+            "part_name": "carrot root",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the carrot body near the thicker end to pick up the carrot",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the carrot body to stabilize it during cutting or peeling",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp the tapered body to place or orient the carrot",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "main edible portion",
+                "primary grasp surface",
+                "support cutting and peeling",
+                "provide bulk and rigidity"
+            ],
+            "semantic_description": "Long tapered orange carrot body with matte smooth skin, faint ring-like ridges, and a larger upper section narrowing to a small pointed tip.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leafy tops of carrot",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the leafy tops to orient or pull the carrot from a surface",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "lightly hold the tops while trimming or inspecting the carrot",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "indicate top orientation",
+                "provide a light pulling point",
+                "connect greens to root",
+                "support trimming"
+            ],
+            "semantic_description": "Small cluster of light green narrow stalk-like tops at the carrot crown, with a matte slightly fibrous surface, thin elongated shape, and flexible texture.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.7139511108398438,
+                    "position": [
+                        -0.1826881729066372,
+                        0.005036871007177979,
+                        0.009932965913321823
+                    ],
+                    "orientation": {
+                        "w": 0.7062420707347065,
+                        "xyz": [
+                            0.00309978607130246,
+                            0.7079474455244815,
+                            -0.004789908770242557
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "stem base of carrot tops",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect greens to root",
+                "mark the top end",
+                "support attached foliage"
+            ],
+            "semantic_description": "Short light green collar-like stem section at the top of the carrot where the leafy shoots emerge, appearing matte, slightly rough, and compact against the thicker end of the root.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "thin carrot leaf",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "minor foliage",
+                "indicate top orientation",
+                "support plant growth"
+            ],
+            "semantic_description": "Very thin light green to whitish slender strand among the top leaves, with a delicate narrow shape, matte finish, and flexible fibrous texture.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask color mismatches and one part identity/color description are incorrect."
+    }
+}

dataset/food/ingredients/31e3ede73fe656658616f2ed020e269f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e13bef84b49010d38a7f89535b04f952e0c9bd78bd7599e6dd0b3c74a9fcd7a6
+size 3779896

dataset/food/ingredients/31e3ede73fe656658616f2ed020e269f/carrot_001.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>
       <quality>
          <PartSegChecker>YES</PartSegChecker>