Add asset food/fruits/f629204afbbe5f92a8f81b6c75fe880a

.gitattributes

@@ -6758,3 +6758,4 @@ dataset/food/fruits/eb8c0d7c6b185cf9a498029b6fcc3eac/affordance/mesh_part_seg.gl
 dataset/food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/ee42c236343e5c42a06092510093a57f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/f5e3ac445a3f55f3acd1c8843059e56b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/f629204afbbe5f92a8f81b6c75fe880a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/f629204afbbe5f92a8f81b6c75fe880a/affordance/affordance_annot.json

@@ -0,0 +1,96 @@
+{
+    "affordances": [
+        {
+            "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": "briefly pinch the stem while harvesting or repositioning the fruit",
+                    "confidence": 0.24
+                },
+                {
+                    "scenario": "lift the apple by the stem",
+                    "confidence": 0.1
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "support hanging while growing"
+            ],
+            "semantic_description": "Small thin brown woody stem with a hard slightly rough fibrous texture, matte finish, and curved protruding shape emerging from the top dimple of the apple.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "body of apple",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the apple body to pick it up from a surface",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the apple body to stabilize it for inspection or placement",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the apple body for transport or sorting",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support eating",
+                "provide bulk of the fruit"
+            ],
+            "semantic_description": "Large rounded yellow apple body with orange-red blush patches, smooth glossy food skin, firm slightly waxy texture, and a plump nearly spherical shape forming almost the entire fruit.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.6207059621810913,
+                    "position": [
+                        0.11815383011708036,
+                        -0.052073752114665695,
+                        -0.01202349178493023
+                    ],
+                    "orientation": {
+                        "w": 0.1624425970549435,
+                        "xyz": [
+                            -0.6767320334921709,
+                            0.14379433216432436,
+                            0.7035405798850642
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.5674554109573364,
+                    "position": [
+                        -0.044152318441774696,
+                        -0.12022024540056009,
+                        -0.015303930267691612
+                    ],
+                    "orientation": {
+                        "w": 0.44484022151179164,
+                        "xyz": [
+                            -0.5744507230647465,
+                            -0.35580326070177426,
+                            -0.5878159437865866
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/f629204afbbe5f92a8f81b6c75fe880a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d84fb23aede98b0d6bcbe8299b40d313730181fe4ea024479d159a3012dae4fe
+size 1905416