Add asset food/fruits/bfecffb87a0357eab8d32dd7fb75c69f

.gitattributes

@@ -8319,3 +8319,4 @@ dataset/food/fruits/b8770d2bca5c5afe8e3e9ab03e007365/affordance/mesh_part_seg.gl
 dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/bbe9f0bc72aa5a148241beea0a8ab026/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/affordance/affordance_annot.json

@@ -0,0 +1,144 @@
+{
+    "affordances": [
+        {
+            "part_name": "leaf",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch the leaf to orient the apple",
+                    "confidence": 0.18
+                },
+                {
+                    "scenario": "lightly hold the leaf to stabilize the fruit during inspection",
+                    "confidence": 0.14
+                }
+            ],
+            "functional_labels": [
+                "photosynthesize while attached to fruit",
+                "indicate top orientation",
+                "provide a delicate manipulation point"
+            ],
+            "semantic_description": "Small green leaf with a matte smooth plant surface, thin slightly curved oval shape, and pointed tip attached near the apple stem at the top.",
+            "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": 0.3
+                },
+                {
+                    "scenario": "lift the apple by the stem in a careful low-load pick",
+                    "confidence": 0.16
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "provide a delicate hanging point"
+            ],
+            "semantic_description": "Short slender brown woody stem with a hard slightly rough fibrous texture, upright cylindrical shape, and small size emerging from the recessed top of the apple.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_31": {
+                    "confidence": 0.6981911063194275,
+                    "position": [
+                        -0.05694541003322229,
+                        0.03898488427512348,
+                        0.11205522250384092
+                    ],
+                    "orientation": {
+                        "w": 0.2950165138850042,
+                        "xyz": [
+                            0.6195507510232444,
+                            0.7206784670149019,
+                            0.09871509825109857
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.6677700877189636,
+                    "position": [
+                        0.03862922597909346,
+                        0.02497330936603248,
+                        0.13150164764374495
+                    ],
+                    "orientation": {
+                        "w": 0.1001213847357885,
+                        "xyz": [
+                            -0.7007149401186541,
+                            -0.6883007081191859,
+                            0.15879677646516005
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.8129579424858093,
+                    "position": [
+                        0.015933876449707896,
+                        0.021915723336860538,
+                        0.13937257509678602
+                    ],
+                    "orientation": {
+                        "w": 0.026412352109148027,
+                        "xyz": [
+                            0.8675080483982156,
+                            0.4929665252158341,
+                            -0.060960467821432746
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "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 or placement",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support biting and cutting",
+                "provide overall structure"
+            ],
+            "semantic_description": "Large rounded yellow apple body with red blush patches, glossy smooth food skin, firm texture, and a slightly dimpled top and bottom typical of an apple.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_57": {
+                    "confidence": 0.8058127164840698,
+                    "position": [
+                        -0.015254793164785951,
+                        -0.11461295117624104,
+                        -0.04252770636230707
+                    ],
+                    "orientation": {
+                        "w": 0.03811147111535598,
+                        "xyz": [
+                            -0.11098560326058889,
+                            -0.5625171056246584,
+                            -0.8184156752640824
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2cbb511eddae01d44f7565eb80f09e6a6c7c96ceed7f93c629362eab38ea8f3
+size 1884816