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Add asset food/fruits/23d6d401400e58b8bc6beb5e614333e8

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.gitattributes CHANGED
@@ -8263,4 +8263,4 @@ dataset/food/fruits/13e8b777dc2856898fb0d611aa651fbe/affordance/mesh_part_seg.gl
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  dataset/food/fruits/1648f03425ba518898286b21015a5850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/food/fruits/1d85d7846685503083bb4c515ebeee21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/food/fruits/1faf89f277225543a73efe380188b397/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/food/fruits/1648f03425ba518898286b21015a5850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/food/fruits/1d85d7846685503083bb4c515ebeee21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/food/fruits/1faf89f277225543a73efe380188b397/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/23d6d401400e58b8bc6beb5e614333e8/affordance/affordance_annot.json ADDED
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+ {
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+ "affordances": [
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+ {
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+ "part_name": "banana body",
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+ "mask_color": "Red",
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+ {
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+ "scenario": "grasp the banana body to pick up and move the banana",
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+ {
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+ "scenario": "hold the banana body to stabilize it during inspection or placement",
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+ {
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+ "scenario": "grasp the banana body while presenting it for peeling or cutting",
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+ "confidence": 0.88
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+ ],
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+ "functional_labels": [
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+ "main grasp surface",
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+ "contain edible fruit",
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+ "support peeling from the ends",
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+ "provide overall structure and volume"
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+ ],
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+ "semantic_description": "Large curved light green banana body with smooth slightly waxy food skin, a mostly matte finish, firm texture, elongated crescent shape, and a few small brown speckles and seam lines along the peel.",
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+ "id": 0,
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+ },
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+ {
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+ "part_name": "stem of banana",
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+ "mask_color": "Green",
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+ "graspable": true,
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+ "grasp_scenarios": [
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+ {
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+ "scenario": "grasp the stem to orient the banana before picking or placing",
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+ },
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+ {
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+ "scenario": "hold the stem while the other gripper peels the banana body",
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+ },
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+ "scenario": "lift the banana by the stem in a delicate handling setup",
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+ "functional_labels": [
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+ "connect to bunch",
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+ "indicate top orientation",
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+ "provide a peeling start point",
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+ "offer a small secondary hold point"
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+ ],
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+ "semantic_description": "Small pale green stalk at one end of the banana, with a firm fibrous plant texture, mostly matte surface, short tapered cylindrical shape, and a slightly darker cut top.",
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+ "id": 1,
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+ }
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+ {
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+ "part_name": "cut end of stem",
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+ "mask_color": "Blue",
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+ "graspable": false,
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+ "grasp_scenarios": [],
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+ "functional_labels": [
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+ "seal the stem end",
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+ "mark where the fruit was detached",
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+ "indicate stem termination"
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+ ],
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+ "semantic_description": "Tiny circular cut cap at the top of the stem, beige to light brown and slightly rough, with a dry fibrous plant appearance and flat cross-section.",
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+ "id": 2,
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+ "grasp_group": {}
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+ {
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+ "part_name": "blossom end of banana",
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+ "mask_color": "Yellow",
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+ "graspable": false,
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+ "grasp_scenarios": [],
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+ "functional_labels": [
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+ "mark the distal tip",
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+ "indicate fruit orientation",
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+ "provide peel end termination"
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+ ],
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+ "semantic_description": "Very small dark brown dried nub at the opposite tip of the banana, with a rough shriveled texture, matte finish, and compact rounded shape.",
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+ "id": 3,
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+ "grasp_group": {}
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+ "quality_check": {
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+ "success": true,
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+ "message": "YES"
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+ }
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