Add asset food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5

.gitattributes

@@ -8281,3 +8281,4 @@ dataset/food/fruits/48237f1cfac457ca9782931528f0f451/affordance/mesh_part_seg.gl
 dataset/food/fruits/49fff6b5d9c156eaba2f689eecd4d6ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/4d66623508465fb89ade9cdee4c6c4db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/50b88ffa707b53adaad3229d94bb24fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/affordance/affordance_annot.json

@@ -0,0 +1,107 @@
+{
+    "affordances": [
+        {
+            "part_name": "stem of pear",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the pear",
+                    "confidence": 0.3
+                },
+                {
+                    "scenario": "lightly hold the stem while stabilizing the fruit during inspection",
+                    "confidence": 0.22
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "provide a small manipulation point"
+            ],
+            "semantic_description": "Small curved brown woody stem with a matte slightly rough fibrous texture protruding from the top of the pear.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_11": {
+                    "confidence": 0.6647409200668335,
+                    "position": [
+                        0.05059434998111101,
+                        0.06621912436094135,
+                        0.10873844008892775
+                    ],
+                    "orientation": {
+                        "w": 0.4032471415392748,
+                        "xyz": [
+                            0.8731122878567146,
+                            -0.21352116908887503,
+                            -0.17168397125223403
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "body of pear",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pear body to pick up the fruit",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the body to reposition or place the pear",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "stabilize the pear body during cutting or inspection",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling and repositioning",
+                "provide bulk of the fruit"
+            ],
+            "semantic_description": "Large bulbous yellow-green pear body with smooth slightly glossy food skin, fine speckling, and a firm gently tapered shape forming most of the fruit.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_39": {
+                    "confidence": 0.9538944363594055,
+                    "position": [
+                        -0.04103297960682539,
+                        0.09736550168599933,
+                        -0.05895146820694208
+                    ],
+                    "orientation": {
+                        "w": 0.1713046870319451,
+                        "xyz": [
+                            -0.1269472490379405,
+                            0.5837260128441946,
+                            -0.7834558328914306
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "damaged flesh area of pear",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "expose inner flesh",
+                "indicate damaged or bitten region",
+                "reduce intact handling area"
+            ],
+            "semantic_description": "Irregular exposed bite-like area showing pale cream interior and red-orange bruised edges, with moist soft flesh on the side and bottom of the pear.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:623e276ce0deb7c41956cac162538a519b3603e5ba88c669630ad6a9b5b7eed8
+size 1442704