Add asset food/fruits/d9d7ac60788859b18234388efd84d523

.gitattributes

@@ -6747,4 +6747,4 @@ dataset/food/beverages/eaa17cfd5f105b2884a03e6302ca52df/affordance/mesh_part_seg
 dataset/food/beverages/e7e52b5bc28f5c6b9cf8db04544f7796/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/ee5ce721b8e65517914b384bb4cb6a35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/d9ddfc005fde5fd0b130af2144091198/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/d474a8187dee559fbf80fc9b700cf152/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/d9d7ac60788859b18234388efd84d523/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/d9d7ac60788859b18234388efd84d523/affordance/affordance_annot.json

@@ -0,0 +1,108 @@
+{
+    "affordances": [
+        {
+            "part_name": "stem of apple",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the apple",
+                    "confidence": 0.3
+                },
+                {
+                    "scenario": "lightly pull or pluck the apple by the stem in careful harvesting",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "support fruit attachment during growth"
+            ],
+            "semantic_description": "Small thin brown woody stem with a dull finish, hard rough fibrous texture, and slightly curved shape protruding from the recessed top of the apple.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.4869656264781952,
+                    "position": [
+                        0.017922690603882074,
+                        0.011157837463542819,
+                        0.13949508406221867
+                    ],
+                    "orientation": {
+                        "w": 0.04522302191629873,
+                        "xyz": [
+                            -0.7292615297149936,
+                            -0.6798668533306719,
+                            0.06255846312655491
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.4170408248901367,
+                    "position": [
+                        -0.0006581038469448686,
+                        -0.015052790055051446,
+                        0.14328856207430363
+                    ],
+                    "orientation": {
+                        "w": 0.09866332596030514,
+                        "xyz": [
+                            -0.8620915666833984,
+                            0.4966221195443309,
+                            0.02074003720128039
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.5643254518508911,
+                    "position": [
+                        0.004900167230516672,
+                        0.01941207959316671,
+                        0.14051246084272861
+                    ],
+                    "orientation": {
+                        "w": 0.04367733273353922,
+                        "xyz": [
+                            0.7243563425740008,
+                            -0.6880198334046631,
+                            -0.005374794872351957
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "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 reposition or place it",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the apple body for cutting or inspection",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support biting and cutting",
+                "provide overall fruit structure"
+            ],
+            "semantic_description": "Large rounded red apple body with glossy smooth food skin, firm texture, subtle pale speckling, and a slightly dimpled top and bottom forming nearly the entire fruit.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/d9d7ac60788859b18234388efd84d523/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07d04ddad0a0d2e5f8f0dfb794c1c0a720eee248eeef28edad5cba124005ab51
+size 2057828