Add asset food/fruits/a9620572855f570189bf054098e1b0d2

.gitattributes

@@ -8313,3 +8313,4 @@ dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/affordance/mesh_part_seg.gl
 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/a9620572855f570189bf054098e1b0d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/a9620572855f570189bf054098e1b0d2/affordance/affordance_annot.json

@@ -0,0 +1,37 @@
+{
+    "affordances": [
+        {
+            "part_name": "body of peach",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the peach body to pick up and move the fruit",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the peach body to stabilize it during inspection or placement",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the peach body gently for packing or sorting",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling and transport",
+                "provide fruit bulk",
+                "enable inspection and sorting"
+            ],
+            "semantic_description": "Large rounded peach body with pale pink to cream fuzzy food skin, a matte soft velvety texture, gentle seam indentation, and a slightly asymmetrical form covering nearly the entire fruit.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/a9620572855f570189bf054098e1b0d2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f6b3707acb0bfadf9925c00ed19a1b618c39da9883e4c7c9ea2897f0d32b98e
+size 111286752

dataset/food/fruits/a9620572855f570189bf054098e1b0d2/peach_004.urdf

@@ -52,6 +52,7 @@
                <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>