Add asset food/ingredients/e805c144fac754b59a95f213fb33c2e8

.gitattributes

@@ -6841,3 +6841,4 @@ dataset/food/ingredients/e32eba9b801b5e1c95018ffab603df9c/affordance/mesh_part_s
 dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/e29c2701a5985555927865c12d3d1dae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e805c144fac754b59a95f213fb33c2e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/e805c144fac754b59a95f213fb33c2e8/affordance/affordance_annot.json

@@ -0,0 +1,157 @@
+{
+    "affordances": [
+        {
+            "part_name": "main croissant body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up the croissant",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the main body to reposition or place the croissant",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the croissant during serving or packaging",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "provide edible bulk",
+                "support overall structure",
+                "support handling and serving"
+            ],
+            "semantic_description": "Largest central section of the croissant, crescent-shaped with a golden-brown baked crust, matte finish, visible laminated layers, and a soft bread-like form making up most of the object's volume.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "outer crust band",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp this broad outer band to lift the croissant when approaching from the side",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold this section to rotate or orient the croissant",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide handling surface",
+                "form outer crust",
+                "maintain layered shape",
+                "support serving grip"
+            ],
+            "semantic_description": "Broad curved outer band on the croissant, golden-brown with a smooth matte baked surface and visible laminated curvature.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left tip",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly pinch the small tip to adjust orientation",
+                    "confidence": 0.4
+                },
+                {
+                    "scenario": "briefly hold the tip for fine positioning",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "indicate end orientation",
+                "complete tapered end shape",
+                "provide small pinch point"
+            ],
+            "semantic_description": "Small tapered curled end of the croissant with a slightly darker golden-brown crust, smooth baked surface, and horn-like shape.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right end segment",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the thicker end segment to nudge or lift the croissant from one side",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold this end to stabilize placement",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "provide side contact area",
+                "form end of the croissant",
+                "help stabilize orientation"
+            ],
+            "semantic_description": "Rounded end section on one side of the crescent, golden-brown with a smooth matte crust and compact bulb-like shape.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side end cap",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small end cap gently to reorient the croissant",
+                    "confidence": 0.35
+                },
+                {
+                    "scenario": "hold the end cap for fine positioning on a tray",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "mark an end region",
+                "provide minor pinch area",
+                "complete layered roll structure"
+            ],
+            "semantic_description": "Small rounded cap-like bread section near an end of the croissant, golden-brown and matte with smooth curved baked layers.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "laminated seam strip",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate laminated fold",
+                "shape the roll surface",
+                "separate larger crust sections visually"
+            ],
+            "semantic_description": "Narrow lighter golden strip along a laminated fold on the croissant surface, smooth and matte, appearing as a thin seam between larger bread sections.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "thin fold edge",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define layer boundary",
+                "connect adjacent crust sections",
+                "provide surface detail"
+            ],
+            "semantic_description": "Very thin light golden edge along a fold line, smooth and matte, visible as a slender layered rim between larger croissant sections.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-colored parts are arbitrary surface segments, not distinct physical parts; names/functions and some grasp labels are not grounded in visible structure."
+    }
+}

dataset/food/ingredients/e805c144fac754b59a95f213fb33c2e8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a5086a4973ff05ba25e10752ab5a6127d5e49b9f89e8db089e51180b6178f9e
+size 3820240

dataset/food/ingredients/e805c144fac754b59a95f213fb33c2e8/bread_006.urdf

@@ -54,6 +54,7 @@
                <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>