Add asset food/fruits/3e40a3b8dac957dcbb1ac9c7954c660f

.gitattributes

@@ -8275,3 +8275,4 @@ dataset/food/fruits/395c1c156e415a759d78b61232c84280/affordance/mesh_part_seg.gl
 dataset/food/fruits/3b95af1cf722552e8c0263dd50b8b41b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/3d5b609b439456f08b71740e20df17df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/3e009e62717e5c66a215f3d343c436ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/3e40a3b8dac957dcbb1ac9c7954c660f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/3e40a3b8dac957dcbb1ac9c7954c660f/affordance/affordance_annot.json

@@ -0,0 +1,98 @@
+{
+    "affordances": [
+        {
+            "part_name": "stem of apple",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the apple",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "pull or pluck the apple by the stem in careful harvesting",
+                    "confidence": 0.22
+                },
+                {
+                    "scenario": "lift the apple by the stem",
+                    "confidence": 0.1
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "assist careful plucking",
+                "provide a small manipulation point"
+            ],
+            "semantic_description": "Small thin brown woody stem with a hard slightly rough fibrous texture, matte finish, and a tapered curved shape protruding from the apple's top dimple.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.5861760973930359,
+                    "position": [
+                        0.0020333133434178308,
+                        -0.019506136188283563,
+                        0.13697502668946981
+                    ],
+                    "orientation": {
+                        "w": 0.061968846820719695,
+                        "xyz": [
+                            -0.7385437468634597,
+                            0.6707868580044017,
+                            0.02753156590488536
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.5188490748405457,
+                    "position": [
+                        0.014249492625822313,
+                        0.009278374491259456,
+                        0.14113338943570852
+                    ],
+                    "orientation": {
+                        "w": 0.056576739813943885,
+                        "xyz": [
+                            -0.3129626720647153,
+                            -0.9470103649645274,
+                            0.04499785612549987
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "body of apple",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the apple body to pick it up",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the apple body to reposition or place it",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "stabilize the apple body during inspection",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support biting and cutting",
+                "provide bulk of the fruit",
+                "protect inner flesh with skin"
+            ],
+            "semantic_description": "Large rounded apple body with yellow-to-red mottled food skin, a smooth slightly glossy firm surface, subtle natural streaking, and a near-spherical form occupying nearly the entire fruit.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/3e40a3b8dac957dcbb1ac9c7954c660f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1cd1072157b34da3fd58d4ec3fa00c4ac0829269564f19382cdcf80a5925de0
+size 829484