Add asset food/fruits/530ebd13b4de54e6a7cfcd19cca0e8b9

.gitattributes

@@ -8283,3 +8283,4 @@ dataset/food/fruits/4d66623508465fb89ade9cdee4c6c4db/affordance/mesh_part_seg.gl
 dataset/food/fruits/50b88ffa707b53adaad3229d94bb24fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/526d54272dce59e0a45960a6a7916f5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/530ebd13b4de54e6a7cfcd19cca0e8b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/530ebd13b4de54e6a7cfcd19cca0e8b9/affordance/affordance_annot.json

@@ -0,0 +1,90 @@
+{
+    "affordances": [
+        {
+            "part_name": "stem of peach",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the peach",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "lightly pull or reposition the peach by the stem",
+                    "confidence": 0.17
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "provide a delicate manipulation point"
+            ],
+            "semantic_description": "Small thin brown woody stem with a matte slightly rough fibrous texture protruding from the top dimple of the peach.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.30733129382133484,
+                    "position": [
+                        -0.017009066767059267,
+                        -0.07206797725666547,
+                        0.1275294361403212
+                    ],
+                    "orientation": {
+                        "w": 0.28192194642474744,
+                        "xyz": [
+                            -0.758187650911562,
+                            0.5791769042848023,
+                            0.1011217863388622
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "body of peach",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the peach body to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the peach body to stabilize it during placement",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the peach body for reorientation",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling",
+                "provide overall structure"
+            ],
+            "semantic_description": "Large rounded peach body with red-to-pink and golden yellow food skin, a soft matte velvety finish, fine fuzzy texture, and a plump lobed shape forming nearly the entire fruit.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seam crease of peach",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark natural fruit seam",
+                "indicate orientation",
+                "separate the two lobes visually"
+            ],
+            "semantic_description": "Narrow recessed crease running along one side of the peach, appearing as a thin shadowed groove in the fuzzy fruit skin between the rounded lobes.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/530ebd13b4de54e6a7cfcd19cca0e8b9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd68c6b02ee97eb1d25b1393af0a713d926547faff07dc6a542417d3e744c33f
+size 3779736