Add asset food/ingredients/3216a55b93cf5faba0e8238b96ce9c61

.gitattributes

@@ -6780,3 +6780,4 @@ dataset/food/ingredients/2d9adc3a7e1753a4a33c6991da0a06a7/affordance/mesh_part_s
 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/3216a55b93cf5faba0e8238b96ce9c61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/3216a55b93cf5faba0e8238b96ce9c61/affordance/affordance_annot.json

@@ -0,0 +1,160 @@
+{
+    "affordances": [
+        {
+            "part_name": "body of tomato",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tomato body to pick up and move the tomato",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the tomato body to stabilize it during inspection or sorting",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling and transport",
+                "provide bulk of the fruit"
+            ],
+            "semantic_description": "Large rounded red tomato body with glossy smooth food skin, a firm slightly yielding texture, shallow lobes, and a few visible cracks or blemishes on the side surfaces.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_10": {
+                    "confidence": 0.8349385857582092,
+                    "position": [
+                        -0.0007371526153292507,
+                        0.13949710503220558,
+                        -0.0001548859872855246
+                    ],
+                    "orientation": {
+                        "w": 0.493627875409862,
+                        "xyz": [
+                            0.5032808186901736,
+                            0.49710456207421216,
+                            -0.5058922736333302
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.8203209042549133,
+                    "position": [
+                        0.0048996318655554205,
+                        0.13904381170868874,
+                        0.005482207459863275
+                    ],
+                    "orientation": {
+                        "w": 0.4593693909327497,
+                        "xyz": [
+                            0.5180506544774449,
+                            0.5051718311118781,
+                            -0.5151744395063065
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8125559091567993,
+                    "position": [
+                        0.09506336148479022,
+                        0.10081010684370995,
+                        -0.006027113238815218
+                    ],
+                    "orientation": {
+                        "w": 0.2733640729995404,
+                        "xyz": [
+                            0.6430114081249613,
+                            0.26097388809901,
+                            -0.6661088817488792
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.80454021692276,
+                    "position": [
+                        0.0017894885095302016,
+                        -0.14154891297221184,
+                        0.0011822114465758204
+                    ],
+                    "orientation": {
+                        "w": 0.511950860834274,
+                        "xyz": [
+                            -0.5048677872904774,
+                            -0.49944730878524746,
+                            -0.48328792576955204
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.8044413328170776,
+                    "position": [
+                        -0.10426322821876965,
+                        0.08875735476613045,
+                        -0.0036240900517441332
+                    ],
+                    "orientation": {
+                        "w": 0.6812357741085271,
+                        "xyz": [
+                            0.21061595182271303,
+                            0.6543842491672031,
+                            -0.2516743835880881
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "calyx",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly pinch the calyx to orient the tomato by its top",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "delicately hold the calyx to stabilize the tomato during inspection",
+                    "confidence": 0.27
+                }
+            ],
+            "functional_labels": [
+                "protect the stem end",
+                "indicate top orientation",
+                "provide limited pinch point",
+                "connect around stem attachment"
+            ],
+            "semantic_description": "Small star-shaped green leafy calyx at the top of the tomato, with matte slightly rough plant tissue, thin pointed lobes, and a somewhat curled rigid appearance.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stem of tomato",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the tomato",
+                    "confidence": 0.22
+                },
+                {
+                    "scenario": "lift or pull the tomato by the stem in a careful harvesting-style manipulation",
+                    "confidence": 0.14
+                }
+            ],
+            "functional_labels": [
+                "connect to vine",
+                "indicate top center",
+                "provide a delicate pull point"
+            ],
+            "semantic_description": "Very small short green-brown stem stub at the tomato top center, with a matte rough fibrous plant texture and a narrow cylindrical shape protruding slightly above the calyx.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/3216a55b93cf5faba0e8238b96ce9c61/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a503beb7a3345e0f25447bc9295fef7f4c3a6859e307ff2aad89fc0c385e0b2
+size 3777372