Add asset food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7

.gitattributes

@@ -6748,3 +6748,4 @@ dataset/food/beverages/e7e52b5bc28f5c6b9cf8db04544f7796/affordance/mesh_part_seg
 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/d9d7ac60788859b18234388efd84d523/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/affordance/affordance_annot.json

@@ -0,0 +1,102 @@
+{
+    "affordances": [
+        {
+            "part_name": "body of peach",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the peach body to pick up and move the fruit",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the peach body to stabilize it during inspection or placement",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the peach body gently for sorting or packing",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling and transport",
+                "provide fruit exterior",
+                "enable orientation during inspection"
+            ],
+            "semantic_description": "Large rounded peach body with pale cream-yellow and soft pink-orange food skin, a matte velvety fuzzy texture, slight central seam and dimples, forming nearly the entire fruit.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_9": {
+                    "confidence": 0.8722695708274841,
+                    "position": [
+                        -0.12204655114328489,
+                        0.048892673396039754,
+                        0.040436782874166965
+                    ],
+                    "orientation": {
+                        "w": 0.6901547657517735,
+                        "xyz": [
+                            0.17853649026679513,
+                            0.688600946389395,
+                            -0.13281512558801034
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.8719509243965149,
+                    "position": [
+                        -0.12717284116661176,
+                        -0.031812272674869746,
+                        0.03716819209512323
+                    ],
+                    "orientation": {
+                        "w": 0.7036420838803076,
+                        "xyz": [
+                            -0.06263192033906372,
+                            0.699977869287468,
+                            0.10486201817147842
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8669800758361816,
+                    "position": [
+                        -0.12291057262336835,
+                        -0.044844355143141,
+                        0.032461203169077635
+                    ],
+                    "orientation": {
+                        "w": 0.7148796237208729,
+                        "xyz": [
+                            -0.13035461229162376,
+                            0.6746537151902542,
+                            0.12960387040127797
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8618649840354919,
+                    "position": [
+                        -0.10885248932754621,
+                        -0.07248400122625753,
+                        0.030833703465759754
+                    ],
+                    "orientation": {
+                        "w": 0.230502755077706,
+                        "xyz": [
+                            -0.6611953613458232,
+                            -0.17952185488278005,
+                            -0.6909855842604816
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4169407f43a3912959bf6d6535f05648607baa1e4e0f1cc267470a96cdd7d46
+size 3677700