Add asset food/ingredients/f0df3d74e4df5659ba0d8ce9ca9a3c8c

.gitattributes

@@ -6845,3 +6845,4 @@ dataset/food/ingredients/e805c144fac754b59a95f213fb33c2e8/affordance/mesh_part_s
 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/f0df3d74e4df5659ba0d8ce9ca9a3c8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/f0df3d74e4df5659ba0d8ce9ca9a3c8c/affordance/affordance_annot.json

@@ -0,0 +1,54 @@
+{
+    "affordances": [
+        {
+            "part_name": "bread roll body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bread roll from the sides to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the bread roll body to place or reposition it on a surface",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "stabilize the bread roll while cutting or inspecting it",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "main edible portion",
+                "provide primary grasp surface",
+                "support handling and serving",
+                "contain soft interior crumb",
+                "present crust for baking"
+            ],
+            "semantic_description": "Round bun-like bread body with a medium to dark golden-brown baked crust on top, pale beige underside, matte slightly dry finish, soft bread texture, scored top slashes, and a squat domed shape forming nearly the entire object.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.8775884509086609,
+                    "position": [
+                        -0.009007367538288236,
+                        -0.1572570437565446,
+                        -0.0004490874125622213
+                    ],
+                    "orientation": {
+                        "w": 0.5233978587328942,
+                        "xyz": [
+                            -0.4556076956522992,
+                            0.5344050374101497,
+                            0.4825842570234544
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/f0df3d74e4df5659ba0d8ce9ca9a3c8c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9c1f87f098685db6ee04e6410f64f1ee3ee5ecd5ca24c0ade60aad64e6f7239
+size 3777012

dataset/food/ingredients/f0df3d74e4df5659ba0d8ce9ca9a3c8c/bread_004.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>