Add asset food/fruits/a200b06af9435e4c8164d2a9f5b99fef

.gitattributes

@@ -8305,3 +8305,4 @@ dataset/food/fruits/951402131b07520ba65ad8004cdbd199/affordance/mesh_part_seg.gl
 dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/9bb9f582fd875638bb1362edfc064aad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/a0bbd0938c435da2a4a1d991febc6525/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/affordance/affordance_annot.json

@@ -0,0 +1,257 @@
+{
+    "affordances": [
+        {
+            "part_name": "banana body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle of the banana to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the banana body to stabilize it during placement",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp along the curved side to orient the banana",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible fruit",
+                "support peeling from the ends",
+                "provide overall structure"
+            ],
+            "semantic_description": "Large curved yellow banana body with matte to slightly satin food skin, a firm smooth surface with small brown speckles, forming the main central mass of the fruit.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9883044958114624,
+                    "position": [
+                        0.09531991090625525,
+                        0.09599707834422588,
+                        0.019402171950787306
+                    ],
+                    "orientation": {
+                        "w": 0.6760945229578537,
+                        "xyz": [
+                            0.24474289677104516,
+                            -0.6749999184943853,
+                            0.16544552136302407
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9878509640693665,
+                    "position": [
+                        0.09395275916904211,
+                        0.09972747974097729,
+                        0.026202400214970112
+                    ],
+                    "orientation": {
+                        "w": 0.6499803480756277,
+                        "xyz": [
+                            0.27131830819762537,
+                            -0.6897960400538965,
+                            0.16761069738601703
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.987662672996521,
+                    "position": [
+                        0.09476505871862173,
+                        0.09604525379836559,
+                        0.023478524759411812
+                    ],
+                    "orientation": {
+                        "w": 0.6554294632356777,
+                        "xyz": [
+                            0.24365834232401384,
+                            -0.6923657255685083,
+                            0.1779677864010757
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9873786568641663,
+                    "position": [
+                        0.10004672314971685,
+                        0.09410777501761913,
+                        0.01946087460964918
+                    ],
+                    "orientation": {
+                        "w": 0.6771266414808209,
+                        "xyz": [
+                            0.23905239427726038,
+                            -0.6780333843535284,
+                            0.1569209797615108
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9866781234741211,
+                    "position": [
+                        0.10640075709670782,
+                        -0.09621799178421497,
+                        0.014351495774462819
+                    ],
+                    "orientation": {
+                        "w": 0.694868271660857,
+                        "xyz": [
+                            -0.15326061521823744,
+                            -0.6815312505008495,
+                            -0.17083449140243642
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9864112734794617,
+                    "position": [
+                        0.09556320961564779,
+                        0.09809929691255093,
+                        -0.003472534939646721
+                    ],
+                    "orientation": {
+                        "w": 0.2596584096926911,
+                        "xyz": [
+                            0.6105990454324202,
+                            0.16878212884292987,
+                            -0.7288750983372445
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9861619472503662,
+                    "position": [
+                        0.08453220035880804,
+                        0.1087783481925726,
+                        0.032702190801501274
+                    ],
+                    "orientation": {
+                        "w": 0.6209050704823702,
+                        "xyz": [
+                            0.30453120715017923,
+                            -0.7008439013710238,
+                            0.17480121061359777
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9859867691993713,
+                    "position": [
+                        0.0882949223741889,
+                        0.10181261412799358,
+                        -0.004583451896905899
+                    ],
+                    "orientation": {
+                        "w": 0.28094494338348436,
+                        "xyz": [
+                            0.5926794425402567,
+                            0.19879873163785222,
+                            -0.7282033242691236
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9858783483505249,
+                    "position": [
+                        0.10268167313188314,
+                        -0.10073787905275822,
+                        -0.006030656397342682
+                    ],
+                    "orientation": {
+                        "w": 0.23849106168987566,
+                        "xyz": [
+                            -0.6129908011229082,
+                            0.1595203693074303,
+                            0.7361504893761549
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9858644008636475,
+                    "position": [
+                        0.08074655290693045,
+                        0.114287493750453,
+                        0.028529519215226173
+                    ],
+                    "orientation": {
+                        "w": 0.6198168419337018,
+                        "xyz": [
+                            0.3239530078007571,
+                            -0.675700895616593,
+                            0.2330446971186213
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9858587384223938,
+                    "position": [
+                        0.09822728391736746,
+                        0.09179300628602505,
+                        0.023723878897726536
+                    ],
+                    "orientation": {
+                        "w": 0.6533488823046484,
+                        "xyz": [
+                            0.24164171638692702,
+                            -0.6961410980792392,
+                            0.1735859742544795
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9857842326164246,
+                    "position": [
+                        0.10244058724492788,
+                        0.08892437629401684,
+                        0.0049245283007621765
+                    ],
+                    "orientation": {
+                        "w": 0.7312367315686602,
+                        "xyz": [
+                            0.2191358665229807,
+                            -0.6281315092398678,
+                            0.15074190362354944
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "stem and tip ends of banana",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the stem end to lift or reposition the banana delicately",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "pinch an end to orient the banana before a fuller grasp",
+                    "confidence": 0.38
+                },
+                {
+                    "scenario": "hold an end to start peel manipulation",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "indicate orientation",
+                "provide peel starting point",
+                "connect fruit ends",
+                "assist fine repositioning"
+            ],
+            "semantic_description": "Small end parts including the greenish stem and darker blossom tip, with hard fibrous food skin, a slightly rougher matte texture, and compact tapered shapes at both ends of the banana.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8525bc4e10d79808f89382e36692e726effe4d8ab2aa53709be274ac5dca9b33
+size 3779584

dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/banana_001.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>