Add asset food/fruits/ed6953aa23d351eb83edf6b0a9bb3437

.gitattributes

@@ -6756,3 +6756,4 @@ dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/affordance/mesh_part_seg.gl
 dataset/food/fruits/e98207dc3b87503088474661cb8556ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/eb8c0d7c6b185cf9a498029b6fcc3eac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/ed6953aa23d351eb83edf6b0a9bb3437/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/ed6953aa23d351eb83edf6b0a9bb3437/affordance/affordance_annot.json

@@ -0,0 +1,130 @@
+{
+    "affordances": [
+        {
+            "part_name": "body of apple",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the apple body to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the apple body to stabilize it for inspection or placement",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the apple body for reorientation",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support biting and cutting",
+                "provide overall shape",
+                "protect inner fruit"
+            ],
+            "semantic_description": "Large rounded red apple body with glossy smooth food skin, a firm surface, subtle natural shading, and a slightly indented top and lobed bottom.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stem of apple",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the apple",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "lightly hold the stem while stabilizing the apple with another support",
+                    "confidence": 0.24
+                },
+                {
+                    "scenario": "lift the apple by the stem",
+                    "confidence": 0.1
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "provide a small manipulation point",
+                "support hanging while growing"
+            ],
+            "semantic_description": "Small thin brown woody stem with a hard rough fibrous texture, a slight curve, and a matte finish protruding from the top indentation of the apple.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.7527889609336853,
+                    "position": [
+                        -0.037174284654611256,
+                        0.04024977516382933,
+                        0.1283650891855359
+                    ],
+                    "orientation": {
+                        "w": 0.21046460409432563,
+                        "xyz": [
+                            0.7253738818548284,
+                            0.6523063022080309,
+                            0.06351275498638914
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.7091107368469238,
+                    "position": [
+                        0.0017985215308726765,
+                        0.0592271788045764,
+                        0.12465663719922304
+                    ],
+                    "orientation": {
+                        "w": 0.2685088437547227,
+                        "xyz": [
+                            0.9364638607909351,
+                            -0.22310947133508824,
+                            0.03406761011012191
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.623542308807373,
+                    "position": [
+                        0.018960745808726642,
+                        0.055609277449548244,
+                        0.12581547070294619
+                    ],
+                    "orientation": {
+                        "w": 0.25537131246304934,
+                        "xyz": [
+                            0.9595812617368771,
+                            -0.09841989562729225,
+                            -0.06559587669263515
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.7307817339897156,
+                    "position": [
+                        -0.004169915533566382,
+                        0.06612260546535254,
+                        0.12710384000092745
+                    ],
+                    "orientation": {
+                        "w": 0.17608006781600194,
+                        "xyz": [
+                            0.7382307649039221,
+                            0.6350818391389439,
+                            -0.1438130907225716
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/ed6953aa23d351eb83edf6b0a9bb3437/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5606cbdef098d61862271cd53ff4eccdac9c12c02fef03a2e29ceb337be6ee79
+size 1736844