Add asset food/ingredients/d0213701033552fdb970ddfbb799a5c4

.gitattributes

@@ -6827,3 +6827,4 @@ dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/affordance/mesh_part_s
 dataset/food/ingredients/c1925918216251be8f9483389160a75b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/c5d1154c3c7f5defb8eaebf78f261d77/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/d0213701033552fdb970ddfbb799a5c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/d0213701033552fdb970ddfbb799a5c4/affordance/affordance_annot.json

@@ -0,0 +1,161 @@
+{
+    "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 during inspection or placement",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling",
+                "provide bulk structure"
+            ],
+            "semantic_description": "Large round green tomato body with smooth glossy skin, firm fleshy texture, shallow lobing near the top, and a few small natural blemishes on the surface.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_13": {
+                    "confidence": 0.8096611499786377,
+                    "position": [
+                        -0.06289452221244574,
+                        -0.0027647411916404963,
+                        0.11247541772900149
+                    ],
+                    "orientation": {
+                        "w": 0.19182666938844473,
+                        "xyz": [
+                            -0.7035880946606955,
+                            0.653051795096295,
+                            -0.20418049584760956
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "calyx",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the calyx to orient the tomato",
+                    "confidence": 0.3
+                },
+                {
+                    "scenario": "lightly hold the calyx while stabilizing the tomato during inspection",
+                    "confidence": 0.25
+                }
+            ],
+            "functional_labels": [
+                "protect stem end",
+                "indicate top orientation",
+                "connect around stem base",
+                "provide minor stabilization point"
+            ],
+            "semantic_description": "Small star-shaped green leafy calyx at the top of the tomato with a matte slightly textured plant surface, thin pointed lobes, and a flexible leafy structure.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.6875113844871521,
+                    "position": [
+                        0.08338550571352243,
+                        -0.017308039590716362,
+                        0.10925745236454532
+                    ],
+                    "orientation": {
+                        "w": 0.2989240895984341,
+                        "xyz": [
+                            -0.7199796953953296,
+                            -0.5662296281146647,
+                            0.2676894378217498
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.5812094211578369,
+                    "position": [
+                        0.03236041311174631,
+                        -0.037384962663054466,
+                        0.13635583984432742
+                    ],
+                    "orientation": {
+                        "w": 0.17667836806701628,
+                        "xyz": [
+                            -0.8356920855613186,
+                            -0.5194232229607197,
+                            0.02455621787752047
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.7229341268539429,
+                    "position": [
+                        0.04356055427342653,
+                        -0.007475650170817971,
+                        0.13407235610065982
+                    ],
+                    "orientation": {
+                        "w": 0.13333542470504262,
+                        "xyz": [
+                            -0.7063597532236359,
+                            -0.6855079643871185,
+                            0.11556986764031418
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.7128725647926331,
+                    "position": [
+                        0.07872742507606745,
+                        -0.04643039219081402,
+                        0.10111454891739413
+                    ],
+                    "orientation": {
+                        "w": 0.4155775581765681,
+                        "xyz": [
+                            -0.7218638364560183,
+                            -0.5204500875804229,
+                            0.1879883004192823
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "stem of tomato",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch the stem only for slight orientation adjustment under very low force",
+                    "confidence": 0.16
+                },
+                {
+                    "scenario": "avoid using the stem as the primary lifting grasp because it is small and unreliable",
+                    "confidence": 0.08
+                }
+            ],
+            "functional_labels": [
+                "connect to vine",
+                "indicate top orientation",
+                "support fruit attachment"
+            ],
+            "semantic_description": "Short narrow green stem protruding from the tomato top, with a matte slightly rough plant texture, firm fibrous feel, and a tapered cylindrical shape.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/ingredients/d0213701033552fdb970ddfbb799a5c4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6d19cf7d3e2b3fcb2623e65ab6ff8628e7aaff93f5886e2c0500e59969db93c
+size 3779508