Add asset food/fruits/0308c3ddcd2a5823ba0c74d624ae6e16

.gitattributes

@@ -8253,3 +8253,4 @@ dataset/food/beverages/ef06f82b4ef4586692e68de6a83a0985/affordance/mesh_part_seg
 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/0308c3ddcd2a5823ba0c74d624ae6e16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/0308c3ddcd2a5823ba0c74d624ae6e16/affordance/affordance_annot.json

@@ -0,0 +1,161 @@
+{
+    "affordances": [
+        {
+            "part_name": "body of pear",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pear body to pick up and move the fruit",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the pear body to stabilize it during inspection or placement",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the pear body for cutting or packing operations",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "contain edible flesh",
+                "support handling",
+                "provide overall fruit mass",
+                "enable inspection and placement"
+            ],
+            "semantic_description": "Large bulbous yellow-green pear body with smooth slightly glossy food skin, firm fine-grained texture, scattered small speckles and faint blush patches, forming the main rounded mass below the narrow neck.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stem of pear",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the stem to orient the pear",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "lightly hold the stem to stabilize the fruit during inspection",
+                    "confidence": 0.22
+                },
+                {
+                    "scenario": "lift the pear briefly by the stem in a careful low-load manipulation",
+                    "confidence": 0.12
+                }
+            ],
+            "functional_labels": [
+                "connect to branch",
+                "indicate top orientation",
+                "provide a delicate manipulation point"
+            ],
+            "semantic_description": "Small thin brown woody stem with a hard slightly rough fibrous texture and matte finish, protruding from the top dimple of the pear as a narrow curved stalk.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9210482239723206,
+                    "position": [
+                        0.012418530008289963,
+                        -0.048030302132247016,
+                        0.14020659402012825
+                    ],
+                    "orientation": {
+                        "w": 0.1885725590555138,
+                        "xyz": [
+                            -0.9597089845295359,
+                            0.18652710539739842,
+                            0.09277226922205642
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.8724349141120911,
+                    "position": [
+                        -0.021224048861768097,
+                        -0.05262713899719529,
+                        0.13373497501015663
+                    ],
+                    "orientation": {
+                        "w": 0.13682200033376055,
+                        "xyz": [
+                            -0.09192625157071377,
+                            0.9608269857064416,
+                            0.22280217242006223
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9041189551353455,
+                    "position": [
+                        -0.012775120267178863,
+                        -0.04258928095805459,
+                        0.13685252144932747
+                    ],
+                    "orientation": {
+                        "w": 0.09353850879432207,
+                        "xyz": [
+                            -0.10196237067388726,
+                            0.9732153225035377,
+                            0.18359237016670976
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8694193363189697,
+                    "position": [
+                        -0.018789621943142265,
+                        -0.0350678863178473,
+                        0.14144960418343544
+                    ],
+                    "orientation": {
+                        "w": 0.17245851319081276,
+                        "xyz": [
+                            -0.6372915839583824,
+                            0.7494860928072282,
+                            0.04886813821279657
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.824155330657959,
+                    "position": [
+                        0.00019026402151212096,
+                        -0.05539820736157708,
+                        0.13054031506180763
+                    ],
+                    "orientation": {
+                        "w": 0.1945235190163368,
+                        "xyz": [
+                            -0.7119631727605293,
+                            0.6531992149096981,
+                            0.16911483324538923
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9378854632377625,
+                    "position": [
+                        0.009981663024518639,
+                        -0.025505719910142943,
+                        0.14148928597569466
+                    ],
+                    "orientation": {
+                        "w": 0.08727288917166423,
+                        "xyz": [
+                            -0.3909750533631751,
+                            -0.9134461767147652,
+                            -0.07168007190614584
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/food/fruits/0308c3ddcd2a5823ba0c74d624ae6e16/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b4d29c9df4371ea7e07c07892039438d8ef97dedfd9d4eaffb112ef5017943b
+size 1386820