Add asset food/fruits/7e24845535a85852839c33538820bbcc

.gitattributes

@@ -8290,4 +8290,4 @@ dataset/food/fruits/6072327ff43954b6b7fb76075d1442ff/affordance/mesh_part_seg.gl
 dataset/food/fruits/64ed05bd96c553e8b231e767accce641/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/7cb1390eb950580d9304069bd78b57db/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/7e24845535a85852839c33538820bbcc/affordance/affordance_annot.json

@@ -0,0 +1,258 @@
+{
+    "affordances": [
+        {
+            "part_name": "lemon body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lemon body to pick up and move the fruit",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the lemon body steady for cutting or squeezing",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "reorient the lemon by gripping its sides",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible pulp and juice",
+                "support squeezing",
+                "provide overall structure",
+                "support cutting preparation"
+            ],
+            "semantic_description": "Large oval yellow lemon body with natural skin, a slightly glossy matte finish, fine pebbled texture, and a plump elongated shape forming nearly the entire fruit.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9957524538040161,
+                    "position": [
+                        -0.07926393844536506,
+                        -0.04992013517767191,
+                        0.04685319314012304
+                    ],
+                    "orientation": {
+                        "w": 0.460196789167627,
+                        "xyz": [
+                            -0.08984946988548552,
+                            0.8566113207434356,
+                            0.21532076810027118
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9956352114677429,
+                    "position": [
+                        0.09803570262738504,
+                        0.003001119941473007,
+                        -0.004760607553180307
+                    ],
+                    "orientation": {
+                        "w": 0.7199981542028678,
+                        "xyz": [
+                            0.06356656958298103,
+                            -0.6908442551010967,
+                            -0.01720942676923553
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9956235289573669,
+                    "position": [
+                        -0.08435015179566108,
+                        -0.05324760917574167,
+                        0.032282755768392235
+                    ],
+                    "orientation": {
+                        "w": 0.5165461612702057,
+                        "xyz": [
+                            -0.09458592309295995,
+                            0.818506195401155,
+                            0.23298320651839696
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9954985976219177,
+                    "position": [
+                        0.0950402190501336,
+                        -0.029679245315492153,
+                        -0.016436518111731857
+                    ],
+                    "orientation": {
+                        "w": 0.1418697735887063,
+                        "xyz": [
+                            -0.6446067372876916,
+                            0.06441226639793451,
+                            0.748469225501415
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9953943490982056,
+                    "position": [
+                        -0.09206536956480704,
+                        -0.03396501485258341,
+                        0.033039324975106865
+                    ],
+                    "orientation": {
+                        "w": 0.11531910002587066,
+                        "xyz": [
+                            -0.8139679932878708,
+                            -0.08768159655370666,
+                            -0.5625562626955036
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9953287839889526,
+                    "position": [
+                        -0.06916013159207068,
+                        -0.08114045578986406,
+                        0.03245037893066183
+                    ],
+                    "orientation": {
+                        "w": 0.47331202184447485,
+                        "xyz": [
+                            -0.14313130103502328,
+                            0.8063668696279029,
+                            0.3244404910118545
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9952179193496704,
+                    "position": [
+                        -0.08494184710434638,
+                        -0.052132357843220234,
+                        0.030415584391448647
+                    ],
+                    "orientation": {
+                        "w": 0.5379337771130195,
+                        "xyz": [
+                            -0.12085707283756625,
+                            0.8053175272964715,
+                            0.21790938395386342
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9952101111412048,
+                    "position": [
+                        0.0961647649819497,
+                        -0.03466813359409571,
+                        -0.0003686354757519439
+                    ],
+                    "orientation": {
+                        "w": 0.13929904695145806,
+                        "xyz": [
+                            -0.7041725998982995,
+                            0.08512016320840898,
+                            0.6910074405433405
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9951693415641785,
+                    "position": [
+                        0.09830758921452798,
+                        0.013520228676497936,
+                        0.014796841947827488
+                    ],
+                    "orientation": {
+                        "w": 0.01485217146810885,
+                        "xyz": [
+                            0.7447946301121543,
+                            0.1464335820731839,
+                            -0.6508591076415827
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9951515197753906,
+                    "position": [
+                        0.08934830329963006,
+                        -0.0024875609888113104,
+                        0.03986921260366216
+                    ],
+                    "orientation": {
+                        "w": 0.05315498495470341,
+                        "xyz": [
+                            -0.8280567677767635,
+                            -0.06795363863628323,
+                            0.5539664609971018
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9951514005661011,
+                    "position": [
+                        -0.02083216406754218,
+                        -0.0993944676592946,
+                        0.04590462247142568
+                    ],
+                    "orientation": {
+                        "w": 0.4668032291893082,
+                        "xyz": [
+                            -0.8537014073234352,
+                            -0.13101961565072706,
+                            -0.19005923462740817
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9950857758522034,
+                    "position": [
+                        -0.09365762569359504,
+                        -0.028319581411778927,
+                        0.030453854298684746
+                    ],
+                    "orientation": {
+                        "w": 0.13230501872523132,
+                        "xyz": [
+                            -0.805735602361107,
+                            -0.044048534382139404,
+                            -0.5756259616510411
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "stem scar of lemon",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark stem attachment point",
+                "indicate top orientation",
+                "form end cap"
+            ],
+            "semantic_description": "Small brownish stem scar at one lemon end with a dry rough appearance, visible as a recessed or slightly raised patch against the yellow pebbled skin.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blossom end of lemon",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate fruit end",
+                "provide orientation cue",
+                "form tapered tip"
+            ],
+            "semantic_description": "Small yellow pointed end of the lemon with slightly glossy pebbled skin, located at the opposite tip from the stem scar and appearing as a protruding nub.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/7e24845535a85852839c33538820bbcc/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab5430c193cbd2eaa594db8b92daaa7d833eb58e49eff51e10cc2b92bc9b05ea
+size 3742092

dataset/food/fruits/7e24845535a85852839c33538820bbcc/lemon_003.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>