Add asset food/fruits/0150e12e33705691b84fbc533aa504d3

.gitattributes

@@ -8252,3 +8252,4 @@ dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/affordance/mesh_part_seg
 dataset/food/beverages/ef06f82b4ef4586692e68de6a83a0985/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/f93d301c086d53c6b736b09333eabce3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/0150e12e33705691b84fbc533aa504d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/0150e12e33705691b84fbc533aa504d3/affordance/affordance_annot.json

@@ -0,0 +1,255 @@
+{
+    "affordances": [
+        {
+            "part_name": "peach body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the peach body to pick up and move the fruit",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the peach body to stabilize it during inspection or placement",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling",
+                "protect inner fruit"
+            ],
+            "semantic_description": "Large round peach body with red-to-yellow fuzzy skin, a matte soft velvety texture, and a slightly flattened shape with a central seam and shallow stem cavity.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9313856959342957,
+                    "position": [
+                        -0.06893873144872487,
+                        0.09618543874239549,
+                        -0.003463408589595929
+                    ],
+                    "orientation": {
+                        "w": 0.6479951975478926,
+                        "xyz": [
+                            0.3640854948283122,
+                            0.5896282071765482,
+                            -0.3160420125746901
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9230437874794006,
+                    "position": [
+                        0.010041733970865607,
+                        0.12016203295206651,
+                        0.008442225953331217
+                    ],
+                    "orientation": {
+                        "w": 0.5056992513774984,
+                        "xyz": [
+                            0.5715329277911515,
+                            0.4507342070323651,
+                            -0.46309508118486553
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9219463467597961,
+                    "position": [
+                        0.10123216430656612,
+                        -0.05363739613676444,
+                        0.005172652279725298
+                    ],
+                    "orientation": {
+                        "w": 0.26641669294891623,
+                        "xyz": [
+                            -0.7202332607893726,
+                            0.09226870502293572,
+                            0.63385541083457
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9213278293609619,
+                    "position": [
+                        0.08687601308338344,
+                        0.09021641354775056,
+                        0.0027070973010268062
+                    ],
+                    "orientation": {
+                        "w": 0.615544741301583,
+                        "xyz": [
+                            0.21278142317048523,
+                            -0.6792555996999436,
+                            0.3382906556288224
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9209935069084167,
+                    "position": [
+                        0.1161993748974055,
+                        -0.017603916639927775,
+                        0.012476508592953905
+                    ],
+                    "orientation": {
+                        "w": 0.10168430583948922,
+                        "xyz": [
+                            -0.7442025416059664,
+                            0.021626851933718827,
+                            0.6598144877831937
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9187313318252563,
+                    "position": [
+                        0.028863561106845737,
+                        0.11617083888268098,
+                        0.00904899658053182
+                    ],
+                    "orientation": {
+                        "w": 0.4725748952197002,
+                        "xyz": [
+                            0.6031545632295754,
+                            0.4135046014949395,
+                            -0.49182464944931403
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9180498719215393,
+                    "position": [
+                        0.11322595993988216,
+                        0.0390402790508233,
+                        0.011749091645469889
+                    ],
+                    "orientation": {
+                        "w": 0.6668074036670337,
+                        "xyz": [
+                            0.10512258310813342,
+                            -0.7307643191801326,
+                            0.10149206249111549
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9171251654624939,
+                    "position": [
+                        0.08626352320425212,
+                        -0.07492198009276763,
+                        0.007611431734403595
+                    ],
+                    "orientation": {
+                        "w": 0.29817249335026635,
+                        "xyz": [
+                            -0.7101699413595727,
+                            0.18066766486487362,
+                            0.6116461505404084
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9170103669166565,
+                    "position": [
+                        -0.11094275792129338,
+                        0.03685333247995004,
+                        0.000563933135708794
+                    ],
+                    "orientation": {
+                        "w": 0.09700323984496982,
+                        "xyz": [
+                            0.6813641328586895,
+                            -0.1798608068032218,
+                            0.7028395123279563
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9146988391876221,
+                    "position": [
+                        -0.0533935718704015,
+                        0.1023330171010457,
+                        0.0016319727001246065
+                    ],
+                    "orientation": {
+                        "w": 0.6275879353603407,
+                        "xyz": [
+                            0.39522458130128957,
+                            0.5903447268514597,
+                            -0.3184713758001513
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9125548005104065,
+                    "position": [
+                        0.05880013923160732,
+                        0.10181714635109529,
+                        0.009442612616112456
+                    ],
+                    "orientation": {
+                        "w": 0.3624855098339111,
+                        "xyz": [
+                            0.6511979697481405,
+                            0.35124821404071827,
+                            -0.5667187587238981
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9124040603637695,
+                    "position": [
+                        0.016157467616721988,
+                        0.11888627748703584,
+                        -0.023312204430112615
+                    ],
+                    "orientation": {
+                        "w": 0.5757086667343709,
+                        "xyz": [
+                            0.4905951711871029,
+                            0.3925926944613909,
+                            -0.5232082618904016
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.911839485168457,
+                    "position": [
+                        0.1003970883321017,
+                        -0.05423132289433852,
+                        0.0030019449477549642
+                    ],
+                    "orientation": {
+                        "w": 0.2308754376827908,
+                        "xyz": [
+                            -0.7196761037339907,
+                            0.10051874737183719,
+                            0.6470384991759293
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "stem and skin blemishes",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "stem remnant for branch attachment",
+                "surface blemishes or scars",
+                "top orientation cue"
+            ],
+            "semantic_description": "Small brown woody stem at the top cavity plus a few small dark irregular skin blemishes or scars on the peach surface, all much smaller than the main fruit body.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/0150e12e33705691b84fbc533aa504d3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce1039f233471fbd899257b050b57b4def00ebabdf3d3d4555358c06c7aa35d7
+size 3690284

dataset/food/fruits/0150e12e33705691b84fbc533aa504d3/peach_003.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>