Add asset food/fruits/3452299858935fcea7e3efb69ad2550c

.gitattributes

@@ -8267,4 +8267,4 @@ dataset/food/fruits/23d6d401400e58b8bc6beb5e614333e8/affordance/mesh_part_seg.gl
 dataset/food/fruits/23ee96132d1451199f45be451a5e216f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/26812b3faaeb507eb5ea32b320775bad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/2db0218135735e7691d6a0af3bf1f36f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/325c17e85cb65a20823b12aed9a739a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/3452299858935fcea7e3efb69ad2550c.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>
    </custom_data>
 </robot>

dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/affordance/affordance_annot.json

@@ -0,0 +1,156 @@
+{
+    "affordances": [
+        {
+            "part_name": "strawberry fruit body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main fruit body to pick up and move the strawberry",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the fruit body to stabilize it during inspection or packing",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "provide the fruit's bulk",
+                "primary edible portion"
+            ],
+            "semantic_description": "Large heart-shaped bright red fruit body with glossy skin, visible seed pits across the surface, and a fleshy texture forming nearly all of the strawberry below the crown.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "calyx leaves",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch the leafy crown to orient the strawberry",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "lightly grasp the leafy top for careful handling or separation",
+                    "confidence": 0.24
+                }
+            ],
+            "functional_labels": [
+                "protect the top of the fruit",
+                "indicate top orientation",
+                "connect fruit to stem area",
+                "provide a delicate pinch point"
+            ],
+            "semantic_description": "Small green leafy crown at the top with thin pointed lobes, smooth slightly glossy surfaces, and flexible plant texture spreading outward around the fruit top.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8644723296165466,
+                    "position": [
+                        -0.10087772959377617,
+                        -0.029427753761410713,
+                        0.04223673650994897
+                    ],
+                    "orientation": {
+                        "w": 0.48013835414951234,
+                        "xyz": [
+                            -0.6520200002343108,
+                            0.4295844716213203,
+                            -0.39974274466321275
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.5945737361907959,
+                    "position": [
+                        0.09475494420621544,
+                        0.031578196212649345,
+                        0.06596306571736932
+                    ],
+                    "orientation": {
+                        "w": 0.29667061714292847,
+                        "xyz": [
+                            -0.5322718183681047,
+                            -0.6653748641625841,
+                            0.43121867588935403
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.729317307472229,
+                    "position": [
+                        0.09787836915347725,
+                        0.008964840788394213,
+                        0.06661655241623521
+                    ],
+                    "orientation": {
+                        "w": 0.37244092695850184,
+                        "xyz": [
+                            -0.5452890070451172,
+                            -0.662579187894593,
+                            0.3534635405398745
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8277997374534607,
+                    "position": [
+                        -0.0857346256962046,
+                        0.030971646308898926,
+                        0.07865105429664254
+                    ],
+                    "orientation": {
+                        "w": 0.39200787878799104,
+                        "xyz": [
+                            0.6477321948689395,
+                            0.616349693093864,
+                            0.21653148159449068
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8464090824127197,
+                    "position": [
+                        0.03676568216178566,
+                        0.05550356023013592,
+                        0.10390729317441583
+                    ],
+                    "orientation": {
+                        "w": 0.14688615090079607,
+                        "xyz": [
+                            -0.019332040647932782,
+                            -0.9537590930090251,
+                            0.26152308383876344
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "stem remnant",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "tiny stem remnant may be contacted for orientation only in very careful manipulation",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "connect to plant",
+                "indicate top orientation",
+                "stem attachment remnant"
+            ],
+            "semantic_description": "Tiny blue-masked sliver near the leafy crown corresponding to a very small stem remnant, slender and partly hidden among the calyx leaves.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:967d08ee957d63e8b1f825b2ce6f76b90a3f4416de2e9fcb7ca57f634625c12b
+size 595128