Add asset food/fruits/50b88ffa707b53adaad3229d94bb24fa

.gitattributes

@@ -8280,3 +8280,4 @@ dataset/food/fruits/45caa4d5b6425a0c933029bc158895ff/affordance/mesh_part_seg.gl
 dataset/food/fruits/48237f1cfac457ca9782931528f0f451/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/50b88ffa707b53adaad3229d94bb24fa/affordance/affordance_annot.json

@@ -0,0 +1,144 @@
+{
+    "affordances": [
+        {
+            "part_name": "apple body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the apple body to pick it up",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the apple body to reposition or orient it",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the apple body during cutting or inspection",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support biting and handling",
+                "provide overall fruit structure"
+            ],
+            "semantic_description": "Large rounded light green apple body with glossy smooth skin, a firm slightly waxy texture, and broad curved surfaces covering most of the fruit.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.6806286573410034,
+                    "position": [
+                        0.04488477851555217,
+                        0.10112011473393068,
+                        -0.03838701453059912
+                    ],
+                    "orientation": {
+                        "w": 0.178599717869616,
+                        "xyz": [
+                            -0.11516707400224926,
+                            -0.5880003196878043,
+                            0.780444943535221
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.6683427691459656,
+                    "position": [
+                        0.10135316844389308,
+                        0.066360310127493,
+                        -0.00870030582882464
+                    ],
+                    "orientation": {
+                        "w": 0.6918622037529976,
+                        "xyz": [
+                            0.2037294715492347,
+                            -0.6660537266745352,
+                            0.19024570066962967
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.661457896232605,
+                    "position": [
+                        0.07247365261719096,
+                        0.09319931309437379,
+                        -0.011283344123512506
+                    ],
+                    "orientation": {
+                        "w": 0.3210951530378722,
+                        "xyz": [
+                            0.6072932782676531,
+                            0.3308986666919488,
+                            -0.6469921554764033
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.6539517641067505,
+                    "position": [
+                        0.10532697285816539,
+                        0.05106186162447557,
+                        -0.009304156061261892
+                    ],
+                    "orientation": {
+                        "w": 0.7098804214209661,
+                        "xyz": [
+                            0.18002184654143996,
+                            -0.6689633779761945,
+                            0.1270823393618509
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.6438044905662537,
+                    "position": [
+                        0.06305487449571956,
+                        0.09305020462488756,
+                        -0.03319824393838644
+                    ],
+                    "orientation": {
+                        "w": 0.2868027483079927,
+                        "xyz": [
+                            -0.15380684789967283,
+                            -0.5869226139918444,
+                            0.7413565149690999
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "apple stem and blossom remnant",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the stem lightly to orient the apple",
+                    "confidence": 0.23
+                },
+                {
+                    "scenario": "use the stem area as a minor stabilization point",
+                    "confidence": 0.17
+                },
+                {
+                    "scenario": "contact the blossom remnant to index the fruit orientation",
+                    "confidence": 0.12
+                }
+            ],
+            "functional_labels": [
+                "stem connects the fruit to the branch",
+                "blossom remnant marks the opposite pole of the fruit",
+                "indicate top-bottom orientation"
+            ],
+            "semantic_description": "Small green-masked features at opposite poles: a thin brown woody stem protruding from the top recess and a tiny dark blossom remnant at the bottom dimple, both much smaller than the apple body.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green mask combines stem and blossom remnant; part name and description wrongly treat them as one connected part."
+    }
+}

dataset/food/fruits/50b88ffa707b53adaad3229d94bb24fa/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f0d560f487140ca7978f67213fdf002c6896caa9ba364f75d71f77dce9fc291
+size 1595392