Add asset bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0

.gitattributes

@@ -5674,3 +5674,4 @@ dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/afforda
 dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/bcc5da463d175a5884abb18f90aff696/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/bd30495877a057938db044fc2a04b87f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/affordance/affordance_annot.json

@@ -0,0 +1,147 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid from the sides or top edges to lift it off the soap dish",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the lid while repositioning the lightweight soap dish",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "close the soap dish",
+                "cover and protect the soap",
+                "provide removable top access"
+            ],
+            "semantic_description": "Large translucent light-blue plastic lid with a glossy smooth surface, rounded rectangular shape, softly domed top, and rounded corners covering the upper portion of the object.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_34": {
+                    "confidence": 0.689032793045044,
+                    "position": [
+                        -0.011277661193162203,
+                        -0.045770839089527726,
+                        0.13562895054928958
+                    ],
+                    "orientation": {
+                        "w": 0.04427731610109425,
+                        "xyz": [
+                            -0.9985021158797158,
+                            -0.002792943858016178,
+                            -0.03201942109440038
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper rim",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim at the side to steady the soap dish while removing the lid",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the rim to reposition the dish on a countertop",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "form the upper edge of the base",
+                "provide a seating lip for the lid",
+                "connect the lid area to the decorative side walls",
+                "provide a side gripping area"
+            ],
+            "semantic_description": "Translucent bluish-purple plastic band with a glossy smooth finish, forming a rounded rectangular rim around the top of the base just below the lid.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_49": {
+                    "confidence": 0.5172930359840393,
+                    "position": [
+                        0.04943968588486314,
+                        0.16405822685919702,
+                        0.030429822159931064
+                    ],
+                    "orientation": {
+                        "w": 0.588105395340095,
+                        "xyz": [
+                            0.7549246580184825,
+                            -0.23065019169569567,
+                            0.1761286284460499
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base tray with decorative side walls and feet",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base from the sides or underside to lift the soap dish",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the base while placing or removing soap or while opening the lid",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support the soap dish body",
+                "provide the bottom drainage tray",
+                "stabilize the object on a countertop",
+                "elevate the dish with feet",
+                "form decorative ventilated side walls"
+            ],
+            "semantic_description": "Translucent blue plastic base assembly with a glossy smooth finish, including a slatted bottom tray, ornate openwork side panels, and four rounded feet at the corners.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.7877070903778076,
+                    "position": [
+                        0.11890920484438539,
+                        0.055123809492215514,
+                        -0.10855922405607998
+                    ],
+                    "orientation": {
+                        "w": 0.05937629596366729,
+                        "xyz": [
+                            -0.3981243324135709,
+                            -0.02050001843964866,
+                            0.9151782452953402
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.7295551300048828,
+                    "position": [
+                        0.13612316036596894,
+                        -0.0594950953964144,
+                        -0.019760170252993703
+                    ],
+                    "orientation": {
+                        "w": 0.07899113218656091,
+                        "xyz": [
+                            -0.7114090737502039,
+                            -0.03296176122463068,
+                            0.6975464523017321
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8db0fca3e255243dcc0981f467fbeddbc0972d7207cc9e1e440db03dd040d89
+size 3805608

dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/soap_dish_035.urdf

@@ -57,6 +57,7 @@
                <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>