Add asset food/ingredients/e177166a57755bcaa2757b72a60b1ef7

.gitattributes

@@ -6834,3 +6834,4 @@ dataset/food/ingredients/dbe9f14115b052d89c6ff4234c11414c/affordance/mesh_part_s
 dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/df2faefff0d55f498765f387a19ac55b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/dffa628b99455c87b2a5070173b79414/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/affordance/affordance_annot.json

@@ -0,0 +1,172 @@
+{
+    "affordances": [
+        {
+            "part_name": "garlic bulb body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main bulb to pick up and move the garlic",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the bulb steady during peeling or cutting",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "reorient the garlic by gripping opposite sides of the bulb",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house garlic cloves",
+                "support peeling",
+                "stabilize during food preparation",
+                "provide bulk structure"
+            ],
+            "semantic_description": "Large rounded main bulb made of multiple swollen cloves beneath smooth papery skin, mostly pale white to light greenish-white with a soft matte finish and visible seams between cloves, forming most of the object's volume.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_14": {
+                    "confidence": 0.9660741090774536,
+                    "position": [
+                        -0.03149426670279354,
+                        0.08197397066396661,
+                        -0.05669132253387943
+                    ],
+                    "orientation": {
+                        "w": 0.41074326415093954,
+                        "xyz": [
+                            0.07797015921814522,
+                            0.47033131444555387,
+                            -0.7771737771425674
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.965042769908905,
+                    "position": [
+                        -0.08950440713670105,
+                        -0.04895057456451468,
+                        0.027963366301264614
+                    ],
+                    "orientation": {
+                        "w": 0.5982758653554047,
+                        "xyz": [
+                            -0.2694325307981118,
+                            0.750100578005265,
+                            0.082590696553141
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9650058746337891,
+                    "position": [
+                        -0.0025953829754143953,
+                        0.019455115107120946,
+                        -0.09876597305992618
+                    ],
+                    "orientation": {
+                        "w": 0.7427292876927675,
+                        "xyz": [
+                            0.061565395081592596,
+                            -0.06738476570689966,
+                            0.6633416922540508
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "dried root tuft",
+            "mask_color": "Dark teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "root remnant",
+                "indicate bottom orientation",
+                "former growth attachment",
+                "trim during preparation"
+            ],
+            "semantic_description": "Small circular root base on the underside with beige to brown dry fibrous strands around a darker central scar, rough and bristly in texture.",
+            "id": null
+        },
+        {
+            "part_name": "top stem neck",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the short stem neck to lift or reposition the garlic lightly",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the stem area while peeling outer skin",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "top stem remnant",
+                "indicate top orientation",
+                "handling point"
+            ],
+            "semantic_description": "Short cut stem protruding from the top center, pale greenish-white, cylindrical, slightly tapered, with a flat cut end and smooth matte surface.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_14": {
+                    "confidence": 0.9660741090774536,
+                    "position": [
+                        -0.03149426670279354,
+                        0.08197397066396661,
+                        -0.05669132253387943
+                    ],
+                    "orientation": {
+                        "w": 0.41074326415093954,
+                        "xyz": [
+                            0.07797015921814522,
+                            0.47033131444555387,
+                            -0.7771737771425674
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.965042769908905,
+                    "position": [
+                        -0.08950440713670105,
+                        -0.04895057456451468,
+                        0.027963366301264614
+                    ],
+                    "orientation": {
+                        "w": 0.5982758653554047,
+                        "xyz": [
+                            -0.2694325307981118,
+                            0.750100578005265,
+                            0.082590696553141
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9650058746337891,
+                    "position": [
+                        -0.0025953829754143953,
+                        0.019455115107120946,
+                        -0.09876597305992618
+                    ],
+                    "orientation": {
+                        "w": 0.7427292876927675,
+                        "xyz": [
+                            0.061565395081592596,
+                            -0.06738476570689966,
+                            0.6633416922540508
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Stem neck uses wrong mask color; all non-root regions are one cyan part in mask."
+    }
+}

dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da6e3f4fbdf65519b5af2f7419da5875549f3fe4bd6c9778a92702279b5c564b
+size 3792552