Add asset food/fruits/f8e115166d3f525cb6b1ccc4f4acf0a2

.gitattributes

@@ -6759,3 +6759,4 @@ dataset/food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842/affordance/mesh_part_seg.gl
 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/f8e115166d3f525cb6b1ccc4f4acf0a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/f8e115166d3f525cb6b1ccc4f4acf0a2/affordance/affordance_annot.json

@@ -0,0 +1,186 @@
+{
+    "affordances": [
+        {
+            "part_name": "calyx of apple",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "flower-end remnant",
+                "indicate bottom orientation",
+                "minor surface feature"
+            ],
+            "semantic_description": "Small brown dried calyx at the apple bottom with a hard rough fibrous texture and star-like shriveled shape recessed into the base.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stem of apple",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the apple",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "lift the apple by the stem in a careful light-load manipulation",
+                    "confidence": 0.14
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "provide a delicate pinch point"
+            ],
+            "semantic_description": "Small thin brown woody stem with a hard slightly rough fibrous surface protruding from the recessed top of the apple.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "body of apple",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the apple body to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the apple body to stabilize it for inspection",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "regrasp the apple body to place it into a container",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling and transport",
+                "provide fruit body"
+            ],
+            "semantic_description": "Large rounded pink-red apple body with glossy smooth food skin, firm surface, pale speckles, and yellow-green blush around the top and bottom recesses.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8957813382148743,
+                    "position": [
+                        0.09563638339750469,
+                        0.07240702514536679,
+                        0.024342414923012257
+                    ],
+                    "orientation": {
+                        "w": 0.19284406792245398,
+                        "xyz": [
+                            0.6399345420604373,
+                            0.2488392183241359,
+                            -0.7009807349484372
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.8756429553031921,
+                    "position": [
+                        0.04006567667238414,
+                        0.1088946342933923,
+                        0.056317294016480446
+                    ],
+                    "orientation": {
+                        "w": 0.36248985852981197,
+                        "xyz": [
+                            0.6409841468801792,
+                            0.4380346077442625,
+                            -0.5156220595840099
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.8744000196456909,
+                    "position": [
+                        0.09899212489835918,
+                        0.054932545172050595,
+                        0.035775197902694345
+                    ],
+                    "orientation": {
+                        "w": 0.6889969813975753,
+                        "xyz": [
+                            0.227610291576219,
+                            -0.6752212429280992,
+                            0.13248768958756382
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.8696606755256653,
+                    "position": [
+                        0.058505994034931064,
+                        0.09522369061596692,
+                        0.05822878144681454
+                    ],
+                    "orientation": {
+                        "w": 0.3038819412685962,
+                        "xyz": [
+                            0.6710605092681139,
+                            0.40224127199609294,
+                            -0.543631785103313
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8672066926956177,
+                    "position": [
+                        0.04955871100537479,
+                        0.10846391622908413,
+                        0.03041030140593648
+                    ],
+                    "orientation": {
+                        "w": 0.40341220484680973,
+                        "xyz": [
+                            0.5831120684473526,
+                            0.38438016257041663,
+                            -0.5911774684762825
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8602563142776489,
+                    "position": [
+                        0.09673760156147182,
+                        0.05731502850539982,
+                        0.03814664902165532
+                    ],
+                    "orientation": {
+                        "w": 0.6773060788721528,
+                        "xyz": [
+                            0.21271015096388116,
+                            -0.6873838832991225,
+                            0.15334361473622046
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8598514795303345,
+                    "position": [
+                        0.09622327308170497,
+                        0.06094621797092259,
+                        0.017210258170962334
+                    ],
+                    "orientation": {
+                        "w": 0.743144429123725,
+                        "xyz": [
+                            0.21637609872481084,
+                            -0.614304723962293,
+                            0.15345177574930702
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/f8e115166d3f525cb6b1ccc4f4acf0a2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a62e1dd28a9da6421a5a661881bfc8abbbdc01c8a1534d00bc8531c806e5e99
+size 3778276