Add asset food/ingredients/e29c2701a5985555927865c12d3d1dae

.gitattributes

@@ -6840,3 +6840,4 @@ dataset/food/ingredients/e303e944339357f3852af01f4088ab3e/affordance/mesh_part_s
 dataset/food/ingredients/e32eba9b801b5e1c95018ffab603df9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/e29c2701a5985555927865c12d3d1dae/affordance/affordance_annot.json

@@ -0,0 +1,267 @@
+{
+    "affordances": [
+        {
+            "part_name": "bottom of bread roll",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the underside and sides to pick up the bread roll",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the bottom area to stabilize the roll during placement or packaging",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support resting on a surface",
+                "provide a stable contact base",
+                "main grasp surface",
+                "support handling and placement"
+            ],
+            "semantic_description": "Broad off-white to pale beige bread underside with a matte soft baked surface, fine-grained smooth texture, and a flattened oval shape forming the bottom of the roll.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9501963257789612,
+                    "position": [
+                        0.010556415189057589,
+                        -0.12252254481427372,
+                        0.024091909639537334
+                    ],
+                    "orientation": {
+                        "w": 0.506186843410494,
+                        "xyz": [
+                            -0.4885825292466059,
+                            -0.49426688364156823,
+                            -0.5106488415813372
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9498724937438965,
+                    "position": [
+                        0.005418120650574565,
+                        -0.12166018481366336,
+                        0.022076637018471956
+                    ],
+                    "orientation": {
+                        "w": 0.5225711879529683,
+                        "xyz": [
+                            -0.49492701056992217,
+                            0.47825054702504843,
+                            0.5032325724751777
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9425323605537415,
+                    "position": [
+                        -0.00649769464507699,
+                        -0.12161447550170124,
+                        0.021171041298657656
+                    ],
+                    "orientation": {
+                        "w": 0.47680739309922376,
+                        "xyz": [
+                            -0.5246324750143343,
+                            -0.4586234084283143,
+                            -0.5357985118380342
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9414877891540527,
+                    "position": [
+                        -0.003311202861368656,
+                        -0.12138072098605335,
+                        0.01260742824524641
+                    ],
+                    "orientation": {
+                        "w": 0.5652349280712101,
+                        "xyz": [
+                            -0.4954142959440055,
+                            0.42384257160753636,
+                            0.5054024396020954
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9412077069282532,
+                    "position": [
+                        -0.00017498794477432966,
+                        -0.12056276644580066,
+                        0.027047908632084727
+                    ],
+                    "orientation": {
+                        "w": 0.4992788512700507,
+                        "xyz": [
+                            -0.504277513505411,
+                            -0.49587863539321575,
+                            -0.5005289172543589
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.940212607383728,
+                    "position": [
+                        0.012155151460319757,
+                        -0.12189592118375003,
+                        0.021447973791509867
+                    ],
+                    "orientation": {
+                        "w": 0.50920866517769,
+                        "xyz": [
+                            -0.48782231847757535,
+                            -0.49605239822495184,
+                            -0.5066240609351197
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.939604640007019,
+                    "position": [
+                        0.017574416007846594,
+                        -0.11820682580582798,
+                        0.005102498456835747
+                    ],
+                    "orientation": {
+                        "w": 0.5295288765388524,
+                        "xyz": [
+                            -0.5073213103639719,
+                            0.37562024441655506,
+                            0.5666865879359869
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9362836480140686,
+                    "position": [
+                        0.017976369243115187,
+                        -0.11923367972485721,
+                        0.011044342070817947
+                    ],
+                    "orientation": {
+                        "w": 0.5144897912734788,
+                        "xyz": [
+                            -0.496197513448184,
+                            0.4134102937283649,
+                            0.564074650522994
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9357295632362366,
+                    "position": [
+                        0.017217338550835848,
+                        -0.122701559914276,
+                        0.012760420329868793
+                    ],
+                    "orientation": {
+                        "w": 0.5204510072139734,
+                        "xyz": [
+                            -0.4680742915341531,
+                            -0.48255960742670323,
+                            -0.5264726317435193
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9352269768714905,
+                    "position": [
+                        0.02578709227964282,
+                        -0.11992727662436664,
+                        0.024243591586127877
+                    ],
+                    "orientation": {
+                        "w": 0.5476762950819659,
+                        "xyz": [
+                            -0.4444424144160424,
+                            -0.5344597072355165,
+                            -0.4656977962316947
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9325827360153198,
+                    "position": [
+                        0.015593459364026785,
+                        -0.12035835231654346,
+                        0.02170346211642027
+                    ],
+                    "orientation": {
+                        "w": 0.5136856033457922,
+                        "xyz": [
+                            -0.4881223821271902,
+                            0.48122673665065385,
+                            0.5160275854199163
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "outer crust",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side crust to lift the bread roll",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the crust to reorient the roll",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "stabilize the roll by pinching opposite crust sides",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "provide main structure",
+                "protect the softer interior",
+                "main grasp surface",
+                "support handling",
+                "contact surface for resting"
+            ],
+            "semantic_description": "Large golden-brown to dark brown baked crust with a slightly glossy to matte finish, smooth firm texture, rounded oval shape, and coverage around the exterior sides and top of the roll.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "scored opening",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "allow expansion during baking",
+                "expose the interior crumb",
+                "indicate top orientation",
+                "create a split opening"
+            ],
+            "semantic_description": "Elongated pale cream exposed crumb inside the top score, with a matte soft porous texture, shallow recessed shape, and small air holes running along the upper center of the roll.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "flour-dusted side crust patch",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide visual finish",
+                "indicate baked surface treatment",
+                "mark a localized area on the side crust"
+            ],
+            "semantic_description": "Localized irregular patch on the side crust, usually white to pale flour-dusted or lighter baked brown, with a dull powdery-to-matte finish and placement near one lateral side of the roll.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/e29c2701a5985555927865c12d3d1dae/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53d15f9414fabb600a249e6d1df1d27bf256fdcedf81626001491fd97301e499
+size 111335168