Add asset food/fruits/8a8627a32e63500f8e0d0940e705f8bb

.gitattributes

@@ -8296,3 +8296,4 @@ dataset/food/fruits/82045b47d2f850cabbf0a92871f5f1b0/affordance/mesh_part_seg.gl
 dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/8435cb123963588491254338bfb82daa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/8a6b23d9180d581dbdd15e5079de7bd2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/affordance/affordance_annot.json

@@ -0,0 +1,82 @@
+{
+    "affordances": [
+        {
+            "part_name": "orange body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the orange body to pick up and move the fruit",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the orange body to stabilize it for cutting or inspection",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling",
+                "provide protective peel",
+                "stabilize during cutting"
+            ],
+            "semantic_description": "Large round orange body with bright orange-yellow food skin, a slightly glossy dimpled peel, firm textured surface, and a cut top exposing the juicy interior.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_9": {
+                    "confidence": 0.9415946006774902,
+                    "position": [
+                        0.05725773319500149,
+                        0.10678050987189636,
+                        0.008993216790258884
+                    ],
+                    "orientation": {
+                        "w": 0.3462136222288865,
+                        "xyz": [
+                            0.6190361038164761,
+                            0.3732074374768126,
+                            -0.5980356499129978
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9381340742111206,
+                    "position": [
+                        0.0016795033625385258,
+                        0.1201906832284294,
+                        0.0198855334892869
+                    ],
+                    "orientation": {
+                        "w": 0.46195929174442024,
+                        "xyz": [
+                            0.5461143793091213,
+                            0.5321231996868596,
+                            -0.4529874146572125
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9369687438011169,
+                    "position": [
+                        -0.006962137875234475,
+                        0.12064437888329849,
+                        0.022072014398872852
+                    ],
+                    "orientation": {
+                        "w": 0.46892683661655604,
+                        "xyz": [
+                            0.5307027749384331,
+                            0.5505569096688109,
+                            -0.4419833433392774
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32fb5c06547276373d4e31ef9a3fbd5e23a1eb4dfbe8257ab3a4de9d2116dfbd
+size 2136276