Add asset food/fruits/c4d481bdd5625570a6a9e0192221809c

.gitattributes

@@ -8322,3 +8322,4 @@ dataset/food/fruits/bbe9f0bc72aa5a148241beea0a8ab026/affordance/mesh_part_seg.gl
 dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/c1ec1766ad505dd2aa7d0f288d7aea51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/c3dc4a1606405f408ed5793f75c4dd36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/c4d481bdd5625570a6a9e0192221809c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/c4d481bdd5625570a6a9e0192221809c/affordance/affordance_annot.json

@@ -0,0 +1,88 @@
+{
+    "affordances": [
+        {
+            "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 stabilize it for cutting or inspection",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "reorient the apple by pinching its sides",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling",
+                "provide overall shape",
+                "protect interior fruit"
+            ],
+            "semantic_description": "Large round pale green apple body with glossy smooth food skin, a firm slightly waxy texture, faint speckling, and shallow top and bottom dimples forming nearly the entire 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": 0.29
+                },
+                {
+                    "scenario": "lift the apple by the stem in a careful stem-picking motion",
+                    "confidence": 0.14
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "assist delicate picking"
+            ],
+            "semantic_description": "Small slender brown-green woody stem with a hard slightly rough fibrous texture, matte finish, and slight curve protruding from the recessed top of the apple.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "calyx of apple",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark blossom end",
+                "indicate bottom orientation",
+                "protect blossom-end opening"
+            ],
+            "semantic_description": "Small star-like dried brown calyx remnant with a rough brittle texture and dull finish, sitting in the bottom dimple as a tiny recessed end feature.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "calyx cavity of apple",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "recess around blossom end",
+                "indicate bottom orientation",
+                "house calyx remnant"
+            ],
+            "semantic_description": "Tiny dark recessed cavity at the apple bottom with a shadowed smooth interior, centered within the blossom-end dimple and much smaller than the fruit body.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/c4d481bdd5625570a6a9e0192221809c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a572dd39f63ed7d6b081e5fb109e49d8b06652b90ff9de5117874ee3d6681f
+size 3775840

dataset/food/fruits/c4d481bdd5625570a6a9e0192221809c/apple_008.urdf

@@ -54,6 +54,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>YES</PartSegChecker>