Add asset food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42

.gitattributes

@@ -6844,3 +6844,4 @@ dataset/food/ingredients/e29c2701a5985555927865c12d3d1dae/affordance/mesh_part_s
 dataset/food/ingredients/e805c144fac754b59a95f213fb33c2e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/ee92ad39d38b5ef5ab11794b91060fc2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/e7c53cd4d7cf50d9a393032273a6618a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/affordance/affordance_annot.json

@@ -0,0 +1,126 @@
+{
+    "affordances": [
+        {
+            "part_name": "garlic bulb body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bulb body to pick up and move the garlic",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the bulb body steady while peeling cloves",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp the bulb body to orient it for cutting the root or top",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain garlic cloves",
+                "support peeling",
+                "provide bulk for handling",
+                "protect inner cloves"
+            ],
+            "semantic_description": "Large rounded garlic bulb with white to pale purple papery skin, a matte dry finish, subtle vertical ribbing, and a bulbous shape forming nearly the entire object around the cloves.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9134076237678528,
+                    "position": [
+                        0.001794431242160499,
+                        -0.007238730788230896,
+                        0.1821598894894123
+                    ],
+                    "orientation": {
+                        "w": 0.019167757566871946,
+                        "xyz": [
+                            -0.0909585929794737,
+                            0.9948483612086086,
+                            0.04044588524928133
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.8969828486442566,
+                    "position": [
+                        -0.00026322680059820414,
+                        -0.02039538323879242,
+                        0.18067847564816475
+                    ],
+                    "orientation": {
+                        "w": 0.11559699360925482,
+                        "xyz": [
+                            -0.9551260729654104,
+                            0.27006107602262663,
+                            0.037928024304945115
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.8947569727897644,
+                    "position": [
+                        -0.021970931091345847,
+                        -0.036357207223773,
+                        0.16828880086541176
+                    ],
+                    "orientation": {
+                        "w": 0.23405948296179,
+                        "xyz": [
+                            -0.9379621711996649,
+                            0.25255278021612904,
+                            -0.04074576099637503
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8901953101158142,
+                    "position": [
+                        0.016914248815737665,
+                        0.006970084039494395,
+                        0.1839570589363575
+                    ],
+                    "orientation": {
+                        "w": 0.0757915190712693,
+                        "xyz": [
+                            0.23940186279785453,
+                            -0.9678854386176522,
+                            0.011839401914901335
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "garlic root tuft and basal end",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the root tuft lightly to stabilize the garlic during peeling or trimming",
+                    "confidence": 0.38
+                },
+                {
+                    "scenario": "delicately grasp the basal end to slightly reorient the bulb",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "attach dried roots",
+                "mark the bottom end",
+                "indicate orientation",
+                "former growth attachment point"
+            ],
+            "semantic_description": "Small basal area at the bottom of the bulb with a brown to tan dried root tuft, rough fibrous matte texture, and a compact oval base with a few stringy root strands protruding outward.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cbd8cfeaa17c2715568a087e8f5c4bc1cd339b2a2a840bb9d8ead9a95e43f04
+size 111292684

dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/garlic_003.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>
       <quality>
          <PartSegChecker>YES</PartSegChecker>