Add asset food/ingredients/857d8949e7605347897d4845530fa141

.gitattributes

@@ -6797,3 +6797,4 @@ dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/affordance/mesh_part_s
 dataset/food/ingredients/7f000056f3b05094b2e41bcc328b8594/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/7dce30f210ed52dc95e7d6988df4939c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/857d8949e7605347897d4845530fa141/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/857d8949e7605347897d4845530fa141/affordance/affordance_annot.json

@@ -0,0 +1,118 @@
+{
+    "affordances": [
+        {
+            "part_name": "tomato body",
+            "mask_color": "Red",
+            "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": 0.93
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "provide bulk of the fruit",
+                "support handling and transport"
+            ],
+            "semantic_description": "Large round pale pink tomato body with smooth glossy food skin, a soft-firm fleshy texture, shallow ribbing near the top, and the main mass of the fruit.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.838073194026947,
+                    "position": [
+                        -0.09361811878625304,
+                        -0.0950773130171001,
+                        -0.013158674177248031
+                    ],
+                    "orientation": {
+                        "w": 0.34506463941339455,
+                        "xyz": [
+                            -0.6222837057853146,
+                            -0.22982200136545683,
+                            -0.6639843611328327
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.8250541090965271,
+                    "position": [
+                        -0.05163435416761786,
+                        -0.010548518504947424,
+                        0.11624912003753707
+                    ],
+                    "orientation": {
+                        "w": 0.18750161823899614,
+                        "xyz": [
+                            -0.6586449189064513,
+                            0.7190937226271364,
+                            -0.11804334811720066
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8146016597747803,
+                    "position": [
+                        -0.03094659897033125,
+                        -0.1273559327237308,
+                        -0.003947797056753188
+                    ],
+                    "orientation": {
+                        "w": 0.5648839928088402,
+                        "xyz": [
+                            -0.3844976435611545,
+                            0.5747944961709172,
+                            0.45019876047795043
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "calyx",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect the stem attachment area",
+                "indicate the top of the tomato",
+                "connect leafy top structures to the fruit"
+            ],
+            "semantic_description": "Small green leafy calyx with thin pointed lobes, a matte slightly waxy plant surface, and a delicate slightly rough texture spread around the tomato top.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stem of tomato",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the tomato",
+                    "confidence": 0.3
+                },
+                {
+                    "scenario": "lift the tomato by the stem in a careful harvesting-style manipulation",
+                    "confidence": 0.14
+                }
+            ],
+            "functional_labels": [
+                "connect to vine",
+                "indicate top orientation",
+                "support plant attachment"
+            ],
+            "semantic_description": "Short thick green stem with a matte fibrous plant surface, slightly rough texture, and cylindrical shape protruding from the center of the top calyx.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/857d8949e7605347897d4845530fa141/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a2ad8e8cb5a88ffa7d558a5ecf4a818f6c88d95ae3a541d4c7f5e06c0d53f8b
+size 3778956