Add asset food/fruits/8435cb123963588491254338bfb82daa

.gitattributes

@@ -8294,3 +8294,4 @@ dataset/food/fruits/7e24845535a85852839c33538820bbcc/affordance/mesh_part_seg.gl
 dataset/food/fruits/7f11fee9d9095642aedff060bd90c223/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/82045b47d2f850cabbf0a92871f5f1b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/8435cb123963588491254338bfb82daa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/8435cb123963588491254338bfb82daa/affordance/affordance_annot.json

@@ -0,0 +1,145 @@
+{
+    "affordances": [
+        {
+            "part_name": "stem of apple",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the apple",
+                    "confidence": 0.29
+                },
+                {
+                    "scenario": "pull or detach the apple in a harvesting-like manipulation",
+                    "confidence": 0.24
+                },
+                {
+                    "scenario": "lift the apple briefly by the stem",
+                    "confidence": 0.11
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "provide a delicate pull point"
+            ],
+            "semantic_description": "Small thin brown woody stem with a hard slightly rough fibrous texture, matte finish, and curved cylindrical shape protruding from the apple's top cavity.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.7757906317710876,
+                    "position": [
+                        0.0035146104637533426,
+                        -0.023643785156309605,
+                        0.14658359007444233
+                    ],
+                    "orientation": {
+                        "w": 0.09368532716648074,
+                        "xyz": [
+                            -0.9954719162202641,
+                            -0.005053598924558422,
+                            -0.01527038402838627
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.7371028065681458,
+                    "position": [
+                        0.004166983300819993,
+                        -0.014454978518188,
+                        0.15387551800813526
+                    ],
+                    "orientation": {
+                        "w": 0.03169895177282234,
+                        "xyz": [
+                            -0.9965842508307318,
+                            -0.07624550413364813,
+                            -0.0012769307182892461
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.7202648520469666,
+                    "position": [
+                        0.00951853091828525,
+                        -0.024834823794662952,
+                        0.14328764693345875
+                    ],
+                    "orientation": {
+                        "w": 0.10148862874553921,
+                        "xyz": [
+                            -0.993389150802482,
+                            0.0533988488977266,
+                            0.005159092911704423
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.6150346994400024,
+                    "position": [
+                        0.06563283107243478,
+                        0.008427208755165339,
+                        0.13684432522859424
+                    ],
+                    "orientation": {
+                        "w": 0.15291268671528854,
+                        "xyz": [
+                            0.9456970968164335,
+                            -0.17250974087502152,
+                            -0.22916173462799938
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.7026311159133911,
+                    "position": [
+                        0.03625906608067453,
+                        -0.022097629494965076,
+                        0.14655518846120685
+                    ],
+                    "orientation": {
+                        "w": 0.07501149092072062,
+                        "xyz": [
+                            -0.9910732750963587,
+                            -0.038053391958329436,
+                            0.10343586892414881
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "body of apple",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the apple body to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the apple body to reposition or rotate it",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "stabilize the apple body for cutting or inspection",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support biting and cutting",
+                "provide overall fruit mass",
+                "protect inner flesh with skin"
+            ],
+            "semantic_description": "Large rounded pale yellow apple body with glossy smooth food skin, firm slightly waxy texture, subtle brown speckles, and a dark blossom end on the bottom.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/8435cb123963588491254338bfb82daa/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60729b6caecfe9dece7e9d81e56392f4abcfab1aa4274f7aebe652902530345d
+size 3778084