Add asset food/fruits/eb8c0d7c6b185cf9a498029b6fcc3eac

.gitattributes

@@ -6754,3 +6754,4 @@ dataset/food/fruits/e50ae9f8df2d5678a645e314cc98ad8c/affordance/mesh_part_seg.gl
 dataset/food/fruits/e65ef8d7c2d85fd4860667ea48873c41/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/eb8c0d7c6b185cf9a498029b6fcc3eac/affordance/affordance_annot.json

@@ -0,0 +1,150 @@
+{
+    "affordances": [
+        {
+            "part_name": "stem of pear",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the pear",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "pull or reposition the pear by the stem in careful handling",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "assist delicate repositioning"
+            ],
+            "semantic_description": "Small curved brown stem with a hard woody material, matte finish, slightly rough fibrous texture, and a thin tapered shape protruding from the top of the pear.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cut face of pear",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "expose edible flesh",
+                "provide cut surface",
+                "reveal interior"
+            ],
+            "semantic_description": "Medium pale cream interior face of the pear with moist-looking soft fruit flesh, a smooth freshly cut finish, and a wedge-like flat area along one side of the fruit.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "body of pear",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pear body to pick up the fruit",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the pear body to stabilize it during placement or inspection",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling",
+                "provide bulk of fruit"
+            ],
+            "semantic_description": "Large yellow pear body with natural food skin, a slightly glossy smooth but fine-speckled texture, rounded bulbous shape tapering upward, and scattered small brown speckles across the exterior.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.9281173944473267,
+                    "position": [
+                        -0.07917598821222782,
+                        0.09354695191723295,
+                        -0.02614375320263207
+                    ],
+                    "orientation": {
+                        "w": 0.5108340245753612,
+                        "xyz": [
+                            0.5273839304330917,
+                            -0.22281212535273243,
+                            0.6413030064274466
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.9161508679389954,
+                    "position": [
+                        -0.04630408622324467,
+                        0.11774841209989972,
+                        0.00010998290963470936
+                    ],
+                    "orientation": {
+                        "w": 0.5730698587021406,
+                        "xyz": [
+                            0.4504326021203147,
+                            0.5255888507998848,
+                            -0.43870008879539485
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.9037978649139404,
+                    "position": [
+                        -0.05702261067926884,
+                        0.11247319242102094,
+                        -0.0008401614613831043
+                    ],
+                    "orientation": {
+                        "w": 0.5972817127131204,
+                        "xyz": [
+                            0.39231794112803137,
+                            0.5618242648585611,
+                            -0.41676694223952226
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9035761952400208,
+                    "position": [
+                        -0.043094465509057045,
+                        0.1128734078083653,
+                        -0.007358514005318284
+                    ],
+                    "orientation": {
+                        "w": 0.5289382870207485,
+                        "xyz": [
+                            0.5231193554498917,
+                            -0.371384083886533,
+                            0.5555576394155755
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9027999639511108,
+                    "position": [
+                        -0.04856717772781849,
+                        0.11360036095720716,
+                        0.03350285883061588
+                    ],
+                    "orientation": {
+                        "w": 0.41818227857997536,
+                        "xyz": [
+                            0.6495777317408093,
+                            -0.42257115336560624,
+                            0.47392612573204534
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/eb8c0d7c6b185cf9a498029b6fcc3eac/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad8a842fc2a8bc6e72edea041299744e0206edd6e9701617ccc4bf1bea80a974
+size 1586744