Add asset food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5

.gitattributes

@@ -6790,4 +6790,5 @@ dataset/food/ingredients/4fd01769190b5f57b43609c69c175401/affordance/mesh_part_s
 dataset/food/ingredients/52cf06c048f95a3786cc576f38d7449e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/55a486b9890b5dca9837dbc8282fcb28/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/5ae5638c5df1597abf2106181222995a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/5fd0a269cde250ad9441ad9f03e469cf/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/605414d9b68d5f36a1fdd2ac0baad5d5/affordance/affordance_annot.json

@@ -0,0 +1,169 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper bread body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper side of the roll to pick it up and reposition it",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the upper body to stabilize the roll during serving or placement",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a grasp surface",
+                "form the upper exterior of the bread roll",
+                "protect the softer interior",
+                "indicate top-side orientation"
+            ],
+            "semantic_description": "Large upper portion of the bread roll, mostly light tan to golden-brown with a baked matte finish, slightly rough texture, rounded domed shape, and a pale scored opening with darker toasted patches visible on top.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.14296624064445496,
+                    "position": [
+                        0.0032926216372288764,
+                        0.08885734342038631,
+                        0.09865899570286274
+                    ],
+                    "orientation": {
+                        "w": 0.33962686728737373,
+                        "xyz": [
+                            0.9386233547060159,
+                            0.06012776849338175,
+                            0.004943730675894744
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.1252134144306183,
+                    "position": [
+                        -0.0029679331346414983,
+                        -0.020524783059954643,
+                        0.12510761059820652
+                    ],
+                    "orientation": {
+                        "w": 0.04198884761245874,
+                        "xyz": [
+                            -0.9977581402107908,
+                            -0.04481400821850012,
+                            -0.026595770089883477
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.11234135180711746,
+                    "position": [
+                        0.005062463751528412,
+                        0.05503976158797741,
+                        0.11446751095354557
+                    ],
+                    "orientation": {
+                        "w": 0.23069657360551546,
+                        "xyz": [
+                            0.9711809549698793,
+                            -0.05366362740370789,
+                            0.026586814858953745
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.10938826203346252,
+                    "position": [
+                        0.004920611216221005,
+                        0.03059319406747818,
+                        0.12132869847118855
+                    ],
+                    "orientation": {
+                        "w": 0.05735508865578693,
+                        "xyz": [
+                            0.9924949793196065,
+                            0.10789870790980456,
+                            0.004688140575464186
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.10369150340557098,
+                    "position": [
+                        0.00536244927207008,
+                        0.03946416638791561,
+                        0.11308873631060123
+                    ],
+                    "orientation": {
+                        "w": 0.03371036610251011,
+                        "xyz": [
+                            0.006252853041719671,
+                            -0.9761025971454491,
+                            0.21458851994452852
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.09636595845222473,
+                    "position": [
+                        0.006895886326674372,
+                        0.05101802013814449,
+                        0.11545831896364689
+                    ],
+                    "orientation": {
+                        "w": 0.19926933394450938,
+                        "xyz": [
+                            0.9796591494138426,
+                            -0.020958978039913062,
+                            0.01097291021473628
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.06823422014713287,
+                    "position": [
+                        0.007001128571573645,
+                        0.013880228623747826,
+                        0.12566317059099674
+                    ],
+                    "orientation": {
+                        "w": 0.02654212561139578,
+                        "xyz": [
+                            0.11509929709260358,
+                            0.9929978195292153,
+                            -0.0017314118637197498
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower bread body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower side of the roll to lift it from a surface",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "pinch the lower body to stabilize the roll while rotating or placing it",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "support the bread on a surface",
+                "provide a grasp surface",
+                "form the lower exterior of the bread roll",
+                "stabilize the roll during placement"
+            ],
+            "semantic_description": "Broad lower portion of the bread roll, light tan to brown with a matte baked finish, slightly rough flour-dusted texture, rounded oval shape, and scattered darker baked speckles or seed-like marks along the side and underside.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:715268df19243f016b7eaab8313e30c5bfc8c6a91fa9d139da3f82284bdfde1d
+size 3780680