Add asset food/fruits/8850cf33dbfb556483b614ce0dc9024c

.gitattributes

@@ -8295,3 +8295,4 @@ dataset/food/fruits/7f11fee9d9095642aedff060bd90c223/affordance/mesh_part_seg.gl
 dataset/food/fruits/82045b47d2f850cabbf0a92871f5f1b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/8850cf33dbfb556483b614ce0dc9024c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/affordance/affordance_annot.json

@@ -0,0 +1,209 @@
+{
+    "affordances": [
+        {
+            "part_name": "lemon body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lemon body to pick up and move the fruit",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the lemon body to stabilize it for cutting or inspection",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "reorient the lemon by grasping the side of the body",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support cutting and juicing",
+                "provide overall shape",
+                "protect interior pulp with rind"
+            ],
+            "semantic_description": "Large oval yellow lemon body with food skin, a slightly glossy matte finish, fine pebbled texture, and tapered ends forming the main central mass of the fruit.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_27": {
+                    "confidence": 0.9473724365234375,
+                    "position": [
+                        -0.0968726403079927,
+                        -0.03449005738366395,
+                        0.027402620355132967
+                    ],
+                    "orientation": {
+                        "w": 0.1908260243093564,
+                        "xyz": [
+                            -0.7841737042191739,
+                            -0.022340839206095198,
+                            -0.5900490801289601
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.9459505081176758,
+                    "position": [
+                        0.09870127821341157,
+                        -0.0060352563159540296,
+                        -0.02811857353663072
+                    ],
+                    "orientation": {
+                        "w": 0.0489539350389453,
+                        "xyz": [
+                            -0.5975098846385161,
+                            0.08215700301114837,
+                            0.7961379760190413
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9459198117256165,
+                    "position": [
+                        0.07950192177668214,
+                        0.026396754081360996,
+                        0.06566085066879168
+                    ],
+                    "orientation": {
+                        "w": 0.42696771094828007,
+                        "xyz": [
+                            -0.01612979115884237,
+                            -0.902400135271803,
+                            0.05578888335672061
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.9455145597457886,
+                    "position": [
+                        0.099742675665766,
+                        0.022077935631386936,
+                        -0.02393059659516439
+                    ],
+                    "orientation": {
+                        "w": 0.10938962271110358,
+                        "xyz": [
+                            0.6326721416724634,
+                            0.0237854052282247,
+                            -0.7662859297239052
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.9408183097839355,
+                    "position": [
+                        0.08763578021898866,
+                        0.0006374076474457979,
+                        -0.049587486719246954
+                    ],
+                    "orientation": {
+                        "w": 0.06754433411422184,
+                        "xyz": [
+                            -0.5088534138300294,
+                            -0.012839184330997178,
+                            0.8581032114543717
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9406487941741943,
+                    "position": [
+                        0.09807313466444612,
+                        -0.032937140320427716,
+                        0.011650788190308958
+                    ],
+                    "orientation": {
+                        "w": 0.6477718450022384,
+                        "xyz": [
+                            -0.019100592310093457,
+                            -0.7474136236447545,
+                            -0.1462862925431364
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "stem of lemon",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the lemon",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "lightly hold the stem while stabilizing the fruit during inspection",
+                    "confidence": 0.22
+                },
+                {
+                    "scenario": "lift the lemon by the stem",
+                    "confidence": 0.09
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "support growth attachment",
+                "provide a small manipulation point"
+            ],
+            "semantic_description": "Small thin greenish-brown stem with a hard slightly rough fibrous surface protruding from one end of the lemon, visibly narrow and much smaller than the body.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_13": {
+                    "confidence": 0.8487006425857544,
+                    "position": [
+                        0.06957348668947816,
+                        0.12946496054064482,
+                        0.02028186951065436
+                    ],
+                    "orientation": {
+                        "w": 0.5937678985821231,
+                        "xyz": [
+                            0.42861121300741584,
+                            -0.6352620766152535,
+                            0.24530431042310843
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.7313894629478455,
+                    "position": [
+                        0.06561179691925645,
+                        0.14175743504893035,
+                        -0.030345477571245283
+                    ],
+                    "orientation": {
+                        "w": 0.39308302461752975,
+                        "xyz": [
+                            0.521460234143128,
+                            0.3178117953266969,
+                            -0.6874304493664436
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "nipple of lemon",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark blossom end",
+                "indicate orientation",
+                "form end tip"
+            ],
+            "semantic_description": "Tiny yellow pointed tip of the rind with the same food-skin material and pebbled texture as the body, located at the opposite end as a small protruding nub.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b3af93cf1200ddf01492dd19b17c4f009dfb216413bd372dc90063a26c989bc
+size 3777840

dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/lemon_005.urdf

@@ -54,6 +54,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>YES</PartSegChecker>