Add asset food/ingredients/6765535ef0c8544ebf7db217923ce868

.gitattributes

@@ -6792,3 +6792,4 @@ dataset/food/ingredients/55a486b9890b5dca9837dbc8282fcb28/affordance/mesh_part_s
 dataset/food/ingredients/5ae5638c5df1597abf2106181222995a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/6765535ef0c8544ebf7db217923ce868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/6765535ef0c8544ebf7db217923ce868.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/6765535ef0c8544ebf7db217923ce868/affordance/affordance_annot.json

@@ -0,0 +1,36 @@
+{
+    "affordances": [
+        {
+            "part_name": "tomato body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tomato body to pick up and move the tomato half",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the tomato body to stabilize it during slicing or placement",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the tomato body to orient the cut face upward or downward",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh and seeds",
+                "provide cut surface",
+                "support handling and placement"
+            ],
+            "semantic_description": "Large rounded red tomato half with glossy smooth food skin on the outside, soft moist flesh and seed cavities on the cut face, and a plump lobed shape forming nearly the entire object.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54aa8af8eec037d0965273f0fc4f789aa2cc7ae8e81d23fb4291a4424032c1ef
+size 2054436