Add asset food/ingredients/f9a8669b3e885603ac45b934900307f0

.gitattributes

@@ -6848,3 +6848,4 @@ dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/affordance/mesh_part_s
 dataset/food/ingredients/f706110178005ce193462e85db2f4256/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/f7f79824002d5373a48513d30cfb63bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/f9a8669b3e885603ac45b934900307f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/f9a8669b3e885603ac45b934900307f0/affordance/affordance_annot.json

@@ -0,0 +1,73 @@
+{
+    "affordances": [
+        {
+            "part_name": "tomato body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tomato body to pick up and move the tomato",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the tomato body to stabilize it for cutting or inspection",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh and juice",
+                "support slicing and handling",
+                "provide bulk of the fruit"
+            ],
+            "semantic_description": "Large rounded red tomato body with glossy smooth food skin, a firm slightly yielding texture, and a plump lobed shape forming nearly the entire fruit.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "calyx of tomato",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the calyx to orient the tomato",
+                    "confidence": 0.32
+                },
+                {
+                    "scenario": "lightly hold the calyx to steady the tomato during inspection",
+                    "confidence": 0.24
+                }
+            ],
+            "functional_labels": [
+                "protect stem end",
+                "indicate top orientation",
+                "connect around stem area",
+                "provide minor stabilizing contact point"
+            ],
+            "semantic_description": "Small star-shaped green leafy calyx at the top of the tomato, with thin pointed sepals, a matte slightly rough plant texture, and a flexible fibrous appearance.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.583126425743103,
+                    "position": [
+                        -0.03872846229933202,
+                        -0.042920212901663035,
+                        0.12177849840372801
+                    ],
+                    "orientation": {
+                        "w": 0.021982759813913545,
+                        "xyz": [
+                            -0.8272799861056177,
+                            -0.5226819784166696,
+                            -0.20476360100977123
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/f9a8669b3e885603ac45b934900307f0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0c24eebf731a5baf3bec600dbc4f1a138310269cc3514e7a7f3ae9b11121d8f
+size 747388

dataset/food/ingredients/f9a8669b3e885603ac45b934900307f0/f9a8669b3e885603ac45b934900307f0.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>