Add asset food/fruits/ab9a85d5a0b95f9ab568c0676d9d88ff

.gitattributes

@@ -8314,3 +8314,4 @@ dataset/food/fruits/a91eb0bd1a14573892a957bd68bfb21c/affordance/mesh_part_seg.gl
 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/ab5078c936f05cdaa895480068e769d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/ab9a85d5a0b95f9ab568c0676d9d88ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/ab9a85d5a0b95f9ab568c0676d9d88ff/affordance/affordance_annot.json

@@ -0,0 +1,82 @@
+{
+    "affordances": [
+        {
+            "part_name": "body of apple",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the apple body to pick it up",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the apple body to stabilize it for inspection or placement",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the apple body for reorientation during sorting",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling and transport",
+                "provide bulk of the fruit",
+                "support cutting or biting"
+            ],
+            "semantic_description": "Large round light-green apple body with glossy smooth food skin, firm slightly waxy texture, subtle pale speckles, and a shallow top and bottom dimple forming the main mass of the fruit.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stem of apple",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the apple",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "briefly pinch the stem while stabilizing the fruit during inspection",
+                    "confidence": 0.22
+                },
+                {
+                    "scenario": "lift the apple by the stem",
+                    "confidence": 0.1
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "provide a small manipulation point",
+                "mark the fruit attachment site"
+            ],
+            "semantic_description": "Small thin brown woody stem with a hard rough fibrous texture and slight curve, protruding from the top dimple of the apple.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_13": {
+                    "confidence": 0.2434385120868683,
+                    "position": [
+                        -0.03882671934843529,
+                        -0.0513482375536114,
+                        0.13216361848753877
+                    ],
+                    "orientation": {
+                        "w": 0.04490719587559272,
+                        "xyz": [
+                            0.7082894143412364,
+                            0.6616641887407582,
+                            0.2418883019676104
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/ab9a85d5a0b95f9ab568c0676d9d88ff/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49dd8e0ed205030d573751091941b742fd460a0249c68a0cd18f12deb2c246ab
+size 3777472