Add asset food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0

.gitattributes

@@ -6822,3 +6822,4 @@ dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/affordance/mesh_part_s
 dataset/food/ingredients/b8676612e19751ebbfa7f155c611f2fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/bb02360a500652bba562309006137929/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/bbfd7934cc715b4d997091483e911911/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/affordance/affordance_annot.json

@@ -0,0 +1,156 @@
+{
+    "affordances": [
+        {
+            "part_name": "mushroom cap",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cap from the sides to pick up the mushroom gently",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the cap to stabilize the mushroom during inspection or placement",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "main upper body",
+                "supports the underside gill structure",
+                "provides broad contact area"
+            ],
+            "semantic_description": "Large domed golden-brown to tan cap with a smooth matte surface and dense white speckling on top, broad rounded shape, and a pale yellow rim around the edge.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "mushroom stem",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the stem to lift and move the mushroom",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the stem to orient the mushroom for underside inspection",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "pinch the stem to stabilize the mushroom while cutting or processing",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "support the cap",
+                "connect cap to base",
+                "provide main grasp point",
+                "elevate the cap"
+            ],
+            "semantic_description": "Short thick off-white stem with a matte smooth to slightly fibrous surface, firm texture, cylindrical slightly tapered shape, and central position beneath the cap with dark soil-like residue at the base.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.9680088758468628,
+                    "position": [
+                        -0.0810787039808929,
+                        0.0016309223719872534,
+                        -0.09168102871626616
+                    ],
+                    "orientation": {
+                        "w": 0.6572032625838672,
+                        "xyz": [
+                            0.31868304420957144,
+                            0.30085552371586133,
+                            0.613197311501034
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9679996967315674,
+                    "position": [
+                        -0.07871955214068294,
+                        -0.028392197680659592,
+                        -0.08890813868492842
+                    ],
+                    "orientation": {
+                        "w": 0.7362370236873885,
+                        "xyz": [
+                            -0.3615775381701345,
+                            0.27582317386934363,
+                            -0.5011370128012924
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9678172469139099,
+                    "position": [
+                        -0.07140036998316646,
+                        0.014881067792885005,
+                        -0.09650209080427885
+                    ],
+                    "orientation": {
+                        "w": 0.5674569872369114,
+                        "xyz": [
+                            -0.25324105735110863,
+                            0.31430957332060183,
+                            -0.717684489609969
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9671053290367126,
+                    "position": [
+                        0.08420493872836232,
+                        -0.010951159638352692,
+                        -0.07984788995236158
+                    ],
+                    "orientation": {
+                        "w": 0.665984229853162,
+                        "xyz": [
+                            -0.35942623900118315,
+                            -0.33103638970822125,
+                            0.5636423449256643
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9663745760917664,
+                    "position": [
+                        0.07436652900651097,
+                        0.03098529379349202,
+                        -0.09046792518347502
+                    ],
+                    "orientation": {
+                        "w": 0.5044446835080151,
+                        "xyz": [
+                            -0.24346645185129503,
+                            -0.3737269988082138,
+                            0.7393157501806955
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9661506414413452,
+                    "position": [
+                        -0.06972865341231227,
+                        -0.028131751460023224,
+                        -0.09722356777638197
+                    ],
+                    "orientation": {
+                        "w": 0.7270958370550029,
+                        "xyz": [
+                            -0.36559179457059426,
+                            0.22455367831579942,
+                            -0.5359570216302629
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ac0f42efe2c2b7600e28e21030b8f166cbb28de4c3537d5a902a4a4ee2b98fc
+size 1639764