Add asset food/fruits/20a5e075d66e5bf3b304bffc0794b9b8

.gitattributes

@@ -8263,3 +8263,4 @@ dataset/food/fruits/13e8b777dc2856898fb0d611aa651fbe/affordance/mesh_part_seg.gl
 dataset/food/fruits/1648f03425ba518898286b21015a5850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/1d85d7846685503083bb4c515ebeee21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/1faf89f277225543a73efe380188b397/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/20a5e075d66e5bf3b304bffc0794b9b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/20a5e075d66e5bf3b304bffc0794b9b8/affordance/affordance_annot.json

@@ -0,0 +1,150 @@
+{
+    "affordances": [
+        {
+            "part_name": "stem of pear",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the pear",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "pull or lift the pear by the stem in a careful picking scenario",
+                    "confidence": 0.18
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "assist fruit picking"
+            ],
+            "semantic_description": "Small curved brown woody stem with a matte slightly rough fibrous texture protruding from the narrow top of the pear.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9357972145080566,
+                    "position": [
+                        0.012273110973183066,
+                        -0.03022387313831132,
+                        0.1432231403887272
+                    ],
+                    "orientation": {
+                        "w": 0.11183866334713613,
+                        "xyz": [
+                            -0.6476202039675136,
+                            -0.7517386999363235,
+                            -0.054489556906329124
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.8931569457054138,
+                    "position": [
+                        -0.003271862806286663,
+                        -0.024030343323829584,
+                        0.1500348187983036
+                    ],
+                    "orientation": {
+                        "w": 0.039991044034675884,
+                        "xyz": [
+                            -0.8550060548313099,
+                            -0.5163099593286145,
+                            -0.028096058387253476
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.8805934190750122,
+                    "position": [
+                        0.020291265624109656,
+                        -0.05996557387697976,
+                        0.13254142180085182
+                    ],
+                    "orientation": {
+                        "w": 0.09523997299050377,
+                        "xyz": [
+                            -0.040407320037863015,
+                            -0.9569342085279573,
+                            -0.27124438534483547
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8306914567947388,
+                    "position": [
+                        0.011674066598061472,
+                        -0.07087434145796578,
+                        0.12641054764389992
+                    ],
+                    "orientation": {
+                        "w": 0.3318289837932499,
+                        "xyz": [
+                            -0.8916651834609234,
+                            -0.30504210367118484,
+                            -0.04209561861043529
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8998051285743713,
+                    "position": [
+                        0.009815743716899306,
+                        -0.01782501737761777,
+                        0.1476031132042408
+                    ],
+                    "orientation": {
+                        "w": 0.07390272485613968,
+                        "xyz": [
+                            -0.5975362026986921,
+                            -0.7977951372789633,
+                            -0.03180868839334713
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "body of pear",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pear body to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the pear body to stabilize it for inspection or placement",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling",
+                "provide bulk shape"
+            ],
+            "semantic_description": "Large bulbous yellow pear body with smooth slightly glossy food skin, fine speckling, occasional red blush patches, and a firm rounded shape forming most of the fruit.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blossom end of pear",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark bottom end",
+                "indicate fruit orientation",
+                "natural growth scar"
+            ],
+            "semantic_description": "Tiny dark recessed blossom scar at the bottom of the pear, appearing as a small rough dimple on the otherwise smooth yellow skin.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/20a5e075d66e5bf3b304bffc0794b9b8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e5d6174fca3ebf3e10120cf91d7c5ac5faa0bdceb2e2aa0ca6c39fea616d8d0
+size 1720068