Add asset food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de

.gitattributes

@@ -8288,4 +8288,4 @@ dataset/food/fruits/58caf9a4b7165cd6bd152a45ea9c9620/affordance/mesh_part_seg.gl
 dataset/food/fruits/5e82b7ef85625ba6ad9abd7cd8272161/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/6072327ff43954b6b7fb76075d1442ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/64ed05bd96c553e8b231e767accce641/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/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/72db2fa9b5ca51dfb2f31ce96ec113de/affordance/affordance_annot.json

@@ -0,0 +1,81 @@
+{
+    "affordances": [
+        {
+            "part_name": "body of pear",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pear body to pick up and move the fruit",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the pear body to stabilize it for inspection or placement",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the pear body during cutting or peeling preparation",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support eating",
+                "provide bulk of the fruit",
+                "stabilize the fruit on a surface"
+            ],
+            "semantic_description": "Large bulbous yellow pear body with smooth slightly matte food skin, fine speckled texture, rounded tapering shape, and occasional soft orange-red blush patches over most of the fruit.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stem of pear",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the pear",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "lightly hold the stem to stabilize the fruit during inspection",
+                    "confidence": 0.22
+                },
+                {
+                    "scenario": "lift the pear by the stem",
+                    "confidence": 0.1
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "provide a delicate manipulation point"
+            ],
+            "semantic_description": "Small thin brown woody stem with a hard slightly rough texture and gentle curve, protruding from the narrow top of the pear.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.9404304027557373,
+                    "position": [
+                        0.005563596510910429,
+                        -0.02106289326911792,
+                        0.1492186151444912
+                    ],
+                    "orientation": {
+                        "w": 0.08319414672410017,
+                        "xyz": [
+                            -0.9208939614497682,
+                            0.37699391396075516,
+                            0.05393175829464912
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:734cf0f685f5794f5388d6a8c8f591a8f80f3940fcd1fc75e9dc15a5ef58a58e
+size 1210692