Add asset food/fruits/ab255ab7d8cc501cbbc2c67f6902565f

.gitattributes

@@ -8312,3 +8312,4 @@ dataset/food/fruits/a601670a23c75be7b8ba0b5b6c6f1809/affordance/mesh_part_seg.gl
 dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/a91eb0bd1a14573892a957bd68bfb21c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/ab255ab7d8cc501cbbc2c67f6902565f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/ab255ab7d8cc501cbbc2c67f6902565f/affordance/affordance_annot.json

@@ -0,0 +1,91 @@
+{
+    "affordances": [
+        {
+            "part_name": "lemon body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lemon body to pick up and move the lemon",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the lemon body to stabilize it for cutting or inspection",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the lemon body to orient it for placement or squeezing",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible pulp and juice",
+                "support cutting and slicing",
+                "provide squeezing surface",
+                "protect interior fruit"
+            ],
+            "semantic_description": "Large oval yellow lemon body with natural citrus peel, a slightly glossy dimpled texture, firm surface, and tapered ends forming the main central mass of the fruit.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_13": {
+                    "confidence": 0.9263564944267273,
+                    "position": [
+                        0.02891954977530986,
+                        0.004116572439670563,
+                        -0.10537436639424413
+                    ],
+                    "orientation": {
+                        "w": 0.992386247920812,
+                        "xyz": [
+                            0.0246604836703496,
+                            -0.11730646675391265,
+                            -0.028294669825074503
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "stem of lemon",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch the stem only for minor orientation adjustment during inspection",
+                    "confidence": 0.18
+                },
+                {
+                    "scenario": "briefly contact the stem while stabilizing the fruit near the top end",
+                    "confidence": 0.12
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "assist hanging during growth"
+            ],
+            "semantic_description": "Small short stem protruding from one end of the lemon, appearing brown to green depending on view, with a hard matte slightly rough surface and marking the fruit's attachment point.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stem scar of lemon",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark stem attachment point",
+                "form the recessed calyx area at the top end",
+                "indicate the stem end of the fruit"
+            ],
+            "semantic_description": "Small recessed ring-like area at the base of the stem on one end of the lemon, visible as a pale yellow to greenish-yellow collar with a matte slightly uneven surface around the stem attachment point.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/ab255ab7d8cc501cbbc2c67f6902565f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a511e8d3aab4b94bd5634d00554a55aa437fe263f02c62ab3acbd5966f4c464e
+size 3777884