Add asset food/fruits/c8b0f79f38cb5790b2e16f85c51d79dd

.gitattributes

@@ -8324,3 +8324,4 @@ dataset/food/fruits/c1ec1766ad505dd2aa7d0f288d7aea51/affordance/mesh_part_seg.gl
 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/c8ab462c9f755ec69e446ba00faf1c33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/c8b0f79f38cb5790b2e16f85c51d79dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/c8b0f79f38cb5790b2e16f85c51d79dd/affordance/affordance_annot.json

@@ -0,0 +1,143 @@
+{
+    "affordances": [
+        {
+            "part_name": "stem of pear",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the pear",
+                    "confidence": 0.32
+                },
+                {
+                    "scenario": "briefly hold the stem while stabilizing the pear during picking",
+                    "confidence": 0.24
+                },
+                {
+                    "scenario": "lift the pear by the stem",
+                    "confidence": 0.1
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "provide a delicate pinch point"
+            ],
+            "semantic_description": "Small thin brown woody stem with a hard slightly rough fibrous texture, matte finish, and a curved tapered shape protruding from the top of the pear.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.905954122543335,
+                    "position": [
+                        0.005305828410200775,
+                        -0.048465007363120094,
+                        0.14194174273870885
+                    ],
+                    "orientation": {
+                        "w": 0.16704568040672513,
+                        "xyz": [
+                            -0.7374096316053358,
+                            -0.6407849192790317,
+                            -0.13310696111662265
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9459376335144043,
+                    "position": [
+                        -0.01874807255808264,
+                        -0.03141494598821737,
+                        0.1420249359216541
+                    ],
+                    "orientation": {
+                        "w": 0.19030303437376922,
+                        "xyz": [
+                            -0.5988278835179726,
+                            0.7768514307100745,
+                            0.04113120024059914
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8475199937820435,
+                    "position": [
+                        0.05695251596625894,
+                        -0.0020362759532872587,
+                        0.1356422023382038
+                    ],
+                    "orientation": {
+                        "w": 0.06787390176985451,
+                        "xyz": [
+                            0.9531164457093355,
+                            -0.1721764753045818,
+                            -0.239410600702288
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "body of pear",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pear body to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to reposition or place the pear",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the pear body during inspection",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling",
+                "provide fruit mass and shape"
+            ],
+            "semantic_description": "Large rounded pale yellow pear body with smooth slightly matte food skin, fine speckling and brown spots, firm texture, and a broad lower half tapering toward the top.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_35": {
+                    "confidence": 0.9393025636672974,
+                    "position": [
+                        -0.06518020632211119,
+                        0.009551745461067185,
+                        0.1140112744178623
+                    ],
+                    "orientation": {
+                        "w": 0.26680502266812045,
+                        "xyz": [
+                            -0.5369409580142659,
+                            0.758406002720398,
+                            -0.25559699239907674
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "calyx of pear",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark blossom end",
+                "indicate bottom orientation",
+                "natural fruit structure"
+            ],
+            "semantic_description": "Small dark brown dried calyx cluster at the bottom recess of the pear, with a rough shriveled texture and star-like fibrous shape set into the base.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/c8b0f79f38cb5790b2e16f85c51d79dd/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a85ffa5ff376decd8140928ff10ea3336edd966e20a41019b90e0c669f52ccd0
+size 3779228