Add asset food/fruits/cfc7c6cf39a358d0a03ce8401a052373

.gitattributes

@@ -8326,3 +8326,4 @@ dataset/food/fruits/c4d481bdd5625570a6a9e0192221809c/affordance/mesh_part_seg.gl
 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/ca0c894932425ba68842c591bf6ff608/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/affordance/affordance_annot.json

@@ -0,0 +1,82 @@
+{
+    "affordances": [
+        {
+            "part_name": "stem of apple",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the apple",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "lightly pull or pluck the apple by the stem",
+                    "confidence": 0.18
+                },
+                {
+                    "scenario": "lift the apple by the stem in a careful low-load manipulation",
+                    "confidence": 0.1
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "assist delicate picking",
+                "provide a small manipulation point"
+            ],
+            "semantic_description": "Small thin brown woody stem with a dull finish, hard slightly rough fibrous texture, and a tapered upright shape protruding from the recessed top of the apple.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "body of apple",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the apple body to pick it up",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the apple body to reposition or place it",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "stabilize the apple body during inspection",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support biting and cutting",
+                "provide bulk of the fruit",
+                "protect interior pulp"
+            ],
+            "semantic_description": "Large rounded yellow-green apple body with glossy smooth food skin, a firm taut texture, and a slightly lobed bottom forming the main mass of the fruit.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_14": {
+                    "confidence": 0.7720214128494263,
+                    "position": [
+                        0.022086058626882732,
+                        0.11643397575244308,
+                        -0.009729862678796053
+                    ],
+                    "orientation": {
+                        "w": 0.11105418642772502,
+                        "xyz": [
+                            -0.01653615367031458,
+                            -0.7007056236486238,
+                            0.7045602545459556
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cfca568d23d959db1084be7d97c7f0f4f39216ee742cdbffce9a6f1926d12e3
+size 1780780