Add asset food/fruits/3821fa823f6d5bfa885daa5129af0355

.gitattributes

@@ -8270,3 +8270,4 @@ dataset/food/fruits/2db0218135735e7691d6a0af3bf1f36f/affordance/mesh_part_seg.gl
 dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/affordance/affordance_annot.json

@@ -0,0 +1,174 @@
+{
+    "affordances": [
+        {
+            "part_name": "lemon rind body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lemon body to pick up and move the fruit",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the lemon body steady while cutting or squeezing",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "reorient the lemon by clamping around the middle",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh and juice",
+                "support cutting and slicing",
+                "provide squeezing surface",
+                "protect interior pulp"
+            ],
+            "semantic_description": "Large oval yellow lemon body with natural food skin, a slightly glossy matte finish, fine pebbled texture, and a plump rounded shape forming nearly the entire fruit.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.8774450421333313,
+                    "position": [
+                        0.010820272320415825,
+                        0.0781661740038544,
+                        0.09393813734641299
+                    ],
+                    "orientation": {
+                        "w": 0.262299205952584,
+                        "xyz": [
+                            0.9611020206671175,
+                            -0.08607773051278905,
+                            -0.00852389206850423
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.873757004737854,
+                    "position": [
+                        0.039207820722367615,
+                        0.08225682587362826,
+                        0.08205034112324938
+                    ],
+                    "orientation": {
+                        "w": 0.27428762993899297,
+                        "xyz": [
+                            0.9452535767492615,
+                            -0.030985071311230794,
+                            -0.17407440093539253
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.8711904287338257,
+                    "position": [
+                        0.03304764715721831,
+                        0.04593463824130595,
+                        0.09989767050137743
+                    ],
+                    "orientation": {
+                        "w": 0.17490846617995084,
+                        "xyz": [
+                            0.05207410303246623,
+                            -0.979369810849243,
+                            0.08677609030751951
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.8502482771873474,
+                    "position": [
+                        -0.013930352462921292,
+                        0.014072907390072942,
+                        0.11346197401871905
+                    ],
+                    "orientation": {
+                        "w": 0.0727424833300343,
+                        "xyz": [
+                            -0.0009484938459955751,
+                            0.9972874847013341,
+                            0.011193941954919582
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.8394672274589539,
+                    "position": [
+                        0.02356858825078234,
+                        -0.019791189348325133,
+                        0.10564293985953555
+                    ],
+                    "orientation": {
+                        "w": 0.018798869704438257,
+                        "xyz": [
+                            -0.9946084684746843,
+                            0.0017415441480435057,
+                            0.10196844590489193
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.839172899723053,
+                    "position": [
+                        -0.0020275088609196246,
+                        0.07645143778063357,
+                        0.09430986171355471
+                    ],
+                    "orientation": {
+                        "w": 0.2532851405926557,
+                        "xyz": [
+                            0.9624427481319366,
+                            -0.08141981873831183,
+                            0.054050043846647196
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.8382920026779175,
+                    "position": [
+                        -0.01557068811962381,
+                        0.08044623048044741,
+                        0.08927586948266253
+                    ],
+                    "orientation": {
+                        "w": 0.2640398524553451,
+                        "xyz": [
+                            0.952838742174974,
+                            -0.0826904016482396,
+                            0.1246739154796461
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "nipple ends of lemon",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch an end nub to orient the lemon before placing it down",
+                    "confidence": 0.38
+                },
+                {
+                    "scenario": "lightly hold one end while stabilizing the fruit for inspection",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "indicate fruit orientation",
+                "provide end contour",
+                "protect tip area",
+                "aid visual alignment"
+            ],
+            "semantic_description": "Small protruding yellow tip ends at both poles of the lemon, with the same hard food skin, slightly glossy finish, and fine dimpled texture as the body, plus a tiny brown stem remnant on one end.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c40a9b9030fa653c82ac12c46ae9dd80879650a2febf4c1d155f6d38a056b7
+size 108316684

dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/lemon_004.urdf

@@ -52,6 +52,7 @@
                <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>