Add asset food/ingredients/9157eb7537375b87a1f28c697240264c

.gitattributes

@@ -6801,3 +6801,4 @@ dataset/food/ingredients/857d8949e7605347897d4845530fa141/affordance/mesh_part_s
 dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/8c5072cb53275200a947a103c3d13907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/90179f43534f5fac81fab0e1093d8236/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/9157eb7537375b87a1f28c697240264c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/9157eb7537375b87a1f28c697240264c/9157eb7537375b87a1f28c697240264c.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/9157eb7537375b87a1f28c697240264c/affordance/affordance_annot.json

@@ -0,0 +1,150 @@
+{
+    "affordances": [
+        {
+            "part_name": "cucumber body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cucumber body at the middle to pick it up",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the cucumber body to reposition or place it",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "stabilize the cucumber body during cutting or inspection",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support cutting and slicing",
+                "enable repositioning",
+                "provide overall structure"
+            ],
+            "semantic_description": "Elongated light green cucumber body with smooth slightly glossy food skin, faint longitudinal ridges and pale streaking, firm texture, and a medium-sized tapered cylindrical form spanning nearly the entire object.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.9791295528411865,
+                    "position": [
+                        0.09933535533491522,
+                        0.08794573065824807,
+                        0.01369248306582449
+                    ],
+                    "orientation": {
+                        "w": 0.11733141042381244,
+                        "xyz": [
+                            0.7465644332447329,
+                            -0.007993518060910754,
+                            -0.6548366138289304
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9781426191329956,
+                    "position": [
+                        0.09626590984407812,
+                        0.09757205215282738,
+                        0.019218603840272408
+                    ],
+                    "orientation": {
+                        "w": 0.13785473268533643,
+                        "xyz": [
+                            0.7614414666545368,
+                            0.0252045277461449,
+                            -0.6329041770413085
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9772443771362305,
+                    "position": [
+                        -0.07390839827712625,
+                        0.06454476830549538,
+                        -0.07805406791885616
+                    ],
+                    "orientation": {
+                        "w": 0.08850252185171721,
+                        "xyz": [
+                            -0.34949915783653773,
+                            0.005863992906170901,
+                            -0.9327289294777094
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.976961076259613,
+                    "position": [
+                        0.09353060799185187,
+                        0.08123427000828087,
+                        0.04706404241005657
+                    ],
+                    "orientation": {
+                        "w": 0.08539238331396541,
+                        "xyz": [
+                            0.8430029304096696,
+                            -0.0329969853175931,
+                            -0.5300616937231188
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9761064648628235,
+                    "position": [
+                        0.09127168136183172,
+                        0.08888348308391869,
+                        0.04569863410870312
+                    ],
+                    "orientation": {
+                        "w": 0.10051990306754946,
+                        "xyz": [
+                            0.8411596492723579,
+                            0.0016877652056417336,
+                            -0.5313599015468753
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9759925603866577,
+                    "position": [
+                        -0.07892995548900217,
+                        0.06748778489418328,
+                        -0.07196914894302608
+                    ],
+                    "orientation": {
+                        "w": 0.0715471900776417,
+                        "xyz": [
+                            -0.3902198228779139,
+                            0.0030391197700876393,
+                            -0.9179325972946745
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9759308695793152,
+                    "position": [
+                        0.10313518869224936,
+                        0.0633218374568969,
+                        -0.002745184589002747
+                    ],
+                    "orientation": {
+                        "w": 0.07963140041195779,
+                        "xyz": [
+                            0.6877447518666843,
+                            -0.0054605474610763816,
+                            -0.7215512308697759
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/9157eb7537375b87a1f28c697240264c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80efec1881fbf56b0618d481ddddb6693f903ef2b9d26d496d0ddf30fd18775
+size 826840