Add asset food/ingredients/44add9585fbc58b587c500cafddd7af0

.gitattributes

@@ -6783,3 +6783,4 @@ dataset/food/ingredients/31e3ede73fe656658616f2ed020e269f/affordance/mesh_part_s
 dataset/food/ingredients/41603c8814f9582290f1766548569b14/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/43b757b2d85051bbaec62e136a506dba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/44add9585fbc58b587c500cafddd7af0.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/44add9585fbc58b587c500cafddd7af0/affordance/affordance_annot.json

@@ -0,0 +1,59 @@
+{
+    "affordances": [
+        {
+            "part_name": "tomato body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tomato body to pick it up",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the tomato body to reposition or inspect it",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the tomato body during cutting or sorting",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling and transport",
+                "provide bulk structure"
+            ],
+            "semantic_description": "Large rounded yellow tomato body with smooth slightly glossy skin, fleshy texture, broad lobes, and no visible markings over most of the fruit.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "calyx and stem area",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the calyx and stem area to orient the tomato",
+                    "confidence": 0.28
+                },
+                {
+                    "scenario": "lightly hold the top area to stabilize the tomato during inspection",
+                    "confidence": 0.22
+                }
+            ],
+            "functional_labels": [
+                "protect stem end",
+                "connect fruit to stem",
+                "indicate top orientation"
+            ],
+            "semantic_description": "Small green leafy calyx at the top with thin pointed lobes and a short upright green stem, matte plant surface, and slightly rough texture.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and part segmentation mismatch; green mask covers only calyx while stem is separate small parts."
+    }
+}

dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20c78857c7efd64f7f62ab20b98632b9d0cd789616bb66d990d8d8fa35360eac
+size 789040