Add asset food/fruits/7f11fee9d9095642aedff060bd90c223

.gitattributes

@@ -8291,3 +8291,4 @@ dataset/food/fruits/64ed05bd96c553e8b231e767accce641/affordance/mesh_part_seg.gl
 dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/74a1724157ba5e72ab26313e7f3b2ea8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/7e24845535a85852839c33538820bbcc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/7f11fee9d9095642aedff060bd90c223/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/7f11fee9d9095642aedff060bd90c223/affordance/affordance_annot.json

@@ -0,0 +1,56 @@
+{
+    "affordances": [
+        {
+            "part_name": "half of peach body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp this side of the peach to pick up the fruit",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold this side to stabilize and reorient the peach during inspection",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling",
+                "form outer fruit surface"
+            ],
+            "semantic_description": "One large rounded half of the peach with pinkish blush over pale yellow food skin, a matte velvety fuzzy texture, and a broad curved surface forming one side of the fruit.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "other half of peach body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp this side of the peach to pick up the fruit",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold this side to stabilize and reorient the peach during inspection",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling",
+                "form outer fruit surface"
+            ],
+            "semantic_description": "The other large rounded half of the peach with creamy yellow to pink food skin, a matte soft fuzzy finish, and a broad curved surface wrapping around the opposite side of the fruit.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/7f11fee9d9095642aedff060bd90c223/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c1c70d17a60a18516d549f3a177f05f81bf7cf311dbad843fae2d45b97199b9
+size 3780576

dataset/food/fruits/7f11fee9d9095642aedff060bd90c223/peach_002.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>