Add asset food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842

.gitattributes

@@ -6755,3 +6755,4 @@ dataset/food/fruits/e65ef8d7c2d85fd4860667ea48873c41/affordance/mesh_part_seg.gl
 dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/ec91c1a8c8285aeb87d4fa9201aa3842/affordance/affordance_annot.json

@@ -0,0 +1,80 @@
+{
+    "affordances": [
+        {
+            "part_name": "stem of lemon",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the lemon",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "lightly hold the stem to stabilize the lemon during inspection",
+                    "confidence": 0.24
+                },
+                {
+                    "scenario": "lift the lemon by the stem",
+                    "confidence": 0.08
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "provide a small manipulation point"
+            ],
+            "semantic_description": "Small narrow green stem with a slightly brown cut tip, hard slightly rough plant texture, matte finish, and short cylindrical shape protruding from one end of the lemon.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.9099310636520386,
+                    "position": [
+                        0.0070156500150915235,
+                        0.16248607076704502,
+                        0.01663363803527318
+                    ],
+                    "orientation": {
+                        "w": 0.41246612766113927,
+                        "xyz": [
+                            0.3960050699624426,
+                            -0.6185569199576904,
+                            0.5389239416362208
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "body of lemon",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lemon body to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the lemon body to reposition or place it",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "stabilize the lemon body during cutting or inspection",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh and juice",
+                "support cutting and squeezing",
+                "provide overall shape"
+            ],
+            "semantic_description": "Large oval light green lemon body with pebbled citrus skin, a matte to slightly satin finish, firm textured surface, and tapered ends forming the main bulk of the fruit.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5bd5153eca135a3e55fb272d2dcf5c47d730a17cacf11a56862f0eb85ace1af
+size 3777496