Add asset bathroom_supplies/bath_products/721affca515f5e67bd7b3c6b324b41ed

.gitattributes

@@ -5623,3 +5623,4 @@ dataset/bathroom_supplies/bath_products/69f841c738725e29802622236994349a/afforda
 dataset/bathroom_supplies/bath_products/6c00e70af5c65b3ea36df21a028e48c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/6daa9062bef15ffca2b830c65f6f723c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/721affca515f5e67bd7b3c6b324b41ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/721affca515f5e67bd7b3c6b324b41ed/affordance/affordance_annot.json

@@ -0,0 +1,188 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer dish body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer rim and body to pick up the soap dish",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the side of the dish to reposition it on a sink or countertop",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "stabilize the dish from the outside while placing or removing soap",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "support the soap dish structure",
+                "contain soap within the shallow basin",
+                "provide the main grasp surface",
+                "stabilize the dish on a flat surface",
+                "drain water through perimeter holes"
+            ],
+            "semantic_description": "Large shallow off-white plastic body with a matte smooth hard surface, round plate-like shape, low outer rim, and evenly spaced drainage holes around the upper perimeter.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9850986003875732,
+                    "position": [
+                        0.06713503948412836,
+                        0.12677281443029642,
+                        0.03156271472107619
+                    ],
+                    "orientation": {
+                        "w": 0.33971328939083645,
+                        "xyz": [
+                            0.7172087235784095,
+                            0.38972716762009363,
+                            -0.4672464688503341
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.983328104019165,
+                    "position": [
+                        0.04127161926589906,
+                        0.13810349348932505,
+                        0.02204263478051871
+                    ],
+                    "orientation": {
+                        "w": 0.3724189965796463,
+                        "xyz": [
+                            0.6502789003636069,
+                            0.4544978387527653,
+                            -0.48153209373578976
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9823442697525024,
+                    "position": [
+                        0.03447960293851793,
+                        0.13685269001871347,
+                        0.014217886026017368
+                    ],
+                    "orientation": {
+                        "w": 0.42739015128840613,
+                        "xyz": [
+                            0.6106163862151678,
+                            0.47963829141682157,
+                            -0.4630684580857944
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9822752475738525,
+                    "position": [
+                        -0.09415539004839957,
+                        0.10446462128311396,
+                        0.007373276981525123
+                    ],
+                    "orientation": {
+                        "w": 0.5805023526214251,
+                        "xyz": [
+                            0.28780979565071196,
+                            0.7039869311936796,
+                            -0.29083490305840337
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9818425178527832,
+                    "position": [
+                        0.04135295725427568,
+                        0.13583953026682138,
+                        0.02062909386586398
+                    ],
+                    "orientation": {
+                        "w": 0.36125826898685615,
+                        "xyz": [
+                            0.6195349591130777,
+                            0.4967587552253634,
+                            -0.48877360468045383
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9808262586593628,
+                    "position": [
+                        0.013534075347706676,
+                        0.14044632855802774,
+                        0.0011590555077418685
+                    ],
+                    "orientation": {
+                        "w": 0.5493859394703067,
+                        "xyz": [
+                            0.5789936348868732,
+                            0.4596667885628811,
+                            -0.38941995809806973
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9807305335998535,
+                    "position": [
+                        0.08116584620438516,
+                        0.11772243771702051,
+                        -0.0015877339465077966
+                    ],
+                    "orientation": {
+                        "w": 0.30713161030010105,
+                        "xyz": [
+                            0.6601342241379508,
+                            0.3031914978271233,
+                            -0.614790936596822
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "raised soap platform",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the central platform to lift or reposition the lightweight dish",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the inner platform to stabilize the dish during cleaning",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "elevate the soap above pooled water",
+                "support the bar of soap",
+                "promote drainage around the soap",
+                "reduce soap contact area"
+            ],
+            "semantic_description": "Circular off-white plastic insert in the center with a matte hard surface, slightly raised domed profile, and radial petal-like grooves that texture the soap resting area.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center drain cap",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the center point",
+                "finish the central surface",
+                "provide a small visual center marker"
+            ],
+            "semantic_description": "Very small round off-white plastic nub at the exact center, with a matte smooth hard surface and low-profile button-like shape.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/bath_products/721affca515f5e67bd7b3c6b324b41ed/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7befcaf1ea1772b0b480608c8711deef6bed5655f5e8127c76ba244aada56d85
+size 3778620