Add asset bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e

.gitattributes

@@ -2231,3 +2231,18 @@ dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/facial_
 dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mesh/facial_cleanser_018.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/02f701f8bb9f53eebd246d319f11e350/mjcf/mesh/facial_cleanser_018.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/part_seg_renders/image_depth_exr/0000.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/part_seg_renders/image_depth_exr/0001.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/part_seg_renders/image_depth_exr/0002.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/part_seg_renders/image_depth_exr/0003.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/part_seg_renders/image_depth_exr/0004.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/part_seg_renders/image_depth_exr/0005.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/renders/image_depth_exr/0000.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/renders/image_depth_exr/0001.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/renders/image_depth_exr/0002.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/renders/image_depth_exr/0003.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/renders/image_depth_exr/0004.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/renders/image_depth_exr/0005.exr filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/mesh/soap_dish_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/soap_dish_014.usd filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/affordance_annot.json

@@ -0,0 +1,358 @@
+{
+    "affordances": [
+        {
+            "part_name": "soap dish body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer sides to pick up and relocate the soap dish",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp across opposite edges to empty water or clean the dish",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the body to stabilize the dish while placing soap onto it",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support bar soap",
+                "drain water through slots",
+                "elevate soap above countertop",
+                "provide main grasp surface",
+                "stabilize on flat surfaces"
+            ],
+            "semantic_description": "Single-piece light brown wooden soap dish with a matte to satin finish, hard smooth texture, rectangular tray shape with rounded corners, raised feet, and slotted top drainage openings centered in the body.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9776872992515564,
+                    "position": [
+                        -0.00603835264701047,
+                        0.13639978010905907,
+                        0.006178481678944081
+                    ],
+                    "orientation": {
+                        "w": 0.48135679359759886,
+                        "xyz": [
+                            0.5199221185170444,
+                            0.505055608487595,
+                            -0.4928442555913703
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9775934219360352,
+                    "position": [
+                        -0.011120229293737793,
+                        0.1311043842579238,
+                        -0.000224194023758173
+                    ],
+                    "orientation": {
+                        "w": 0.5168922488580987,
+                        "xyz": [
+                            0.4987938806074528,
+                            -0.48858943922580544,
+                            0.4952851982605467
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9769431352615356,
+                    "position": [
+                        -0.004912626263831044,
+                        0.13534237880958244,
+                        0.00815382058499381
+                    ],
+                    "orientation": {
+                        "w": 0.4799550614348662,
+                        "xyz": [
+                            0.5231769118899353,
+                            0.5117528218482243,
+                            -0.4837748517634461
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9768291115760803,
+                    "position": [
+                        -0.01781476315591135,
+                        0.13681056041968986,
+                        0.0012685293913818896
+                    ],
+                    "orientation": {
+                        "w": 0.5185614448460389,
+                        "xyz": [
+                            0.5078454573354984,
+                            0.5101844084284944,
+                            -0.46140967564557517
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9767591953277588,
+                    "position": [
+                        -0.006118289460573578,
+                        0.13162330229533836,
+                        0.010612619284074754
+                    ],
+                    "orientation": {
+                        "w": 0.4877673196547955,
+                        "xyz": [
+                            0.49259102259467624,
+                            -0.5238475624585596,
+                            0.49499581578245005
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9767317771911621,
+                    "position": [
+                        -0.006525186621729517,
+                        0.1364546461845748,
+                        0.013502791698556393
+                    ],
+                    "orientation": {
+                        "w": 0.47833257289400344,
+                        "xyz": [
+                            0.5343977475762495,
+                            -0.5143580159493446,
+                            0.4701625554238535
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9764742255210876,
+                    "position": [
+                        -0.0015773965606058482,
+                        0.13607639510883018,
+                        -0.0004205878503853455
+                    ],
+                    "orientation": {
+                        "w": 0.5139810584338923,
+                        "xyz": [
+                            0.5036297755959477,
+                            -0.4858314660965122,
+                            0.49613335632152844
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.976285457611084,
+                    "position": [
+                        -0.009426674139831448,
+                        0.13955636759055778,
+                        0.0022878145682625473
+                    ],
+                    "orientation": {
+                        "w": 0.5082959715370203,
+                        "xyz": [
+                            0.5173773779187921,
+                            -0.4911994756629663,
+                            0.4823680433502406
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9762527346611023,
+                    "position": [
+                        -0.017534420159790898,
+                        -0.1318762258742936,
+                        -0.0026475347694940865
+                    ],
+                    "orientation": {
+                        "w": 0.518322704849495,
+                        "xyz": [
+                            -0.502169318300999,
+                            -0.4834459390094936,
+                            -0.4954266579927273
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9761322140693665,
+                    "position": [
+                        -0.014479636480245972,
+                        0.13632843334926292,
+                        -0.005892075423616916
+                    ],
+                    "orientation": {
+                        "w": 0.5205452655838789,
+                        "xyz": [
+                            0.4964506427189971,
+                            -0.4766926799660812,
+                            0.5053053281817435
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9755313992500305,
+                    "position": [
+                        -0.0042387198518554214,
+                        0.13317074318183586,
+                        0.005528086971025914
+                    ],
+                    "orientation": {
+                        "w": 0.5033650358634555,
+                        "xyz": [
+                            0.5188243320567737,
+                            -0.4986234485349622,
+                            0.47835092736099843
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9754571914672852,
+                    "position": [
+                        -0.009709057663712883,
+                        0.13067348737968132,
+                        0.005172097298782319
+                    ],
+                    "orientation": {
+                        "w": 0.5055693669127427,
+                        "xyz": [
+                            0.5129357324008391,
+                            -0.5023934705086671,
+                            0.47843217957838025
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9753425121307373,
+                    "position": [
+                        -0.017818914991948986,
+                        -0.13121676008449867,
+                        -0.004014091624412686
+                    ],
+                    "orientation": {
+                        "w": 0.5195406784054032,
+                        "xyz": [
+                            -0.5027398387854379,
+                            -0.48075866805288425,
+                            -0.496186699813751
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.975307047367096,
+                    "position": [
+                        0.0011850187693198677,
+                        0.13573980767978355,
+                        -0.002267866104375571
+                    ],
+                    "orientation": {
+                        "w": 0.49286837725775706,
+                        "xyz": [
+                            0.5132068066503345,
+                            0.48951914032975585,
+                            -0.504054111735921
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9749680757522583,
+                    "position": [
+                        -0.0035234927527199034,
+                        0.13327342708362266,
+                        0.016227740969043225
+                    ],
+                    "orientation": {
+                        "w": 0.46357399012719747,
+                        "xyz": [
+                            0.5284327858018615,
+                            -0.5365445049795534,
+                            0.46688107773123466
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9749578833580017,
+                    "position": [
+                        0.12316198434200487,
+                        0.03478638519300148,
+                        -0.0030849099275656044
+                    ],
+                    "orientation": {
+                        "w": 0.03548730628949181,
+                        "xyz": [
+                            0.6976770107587722,
+                            -0.026847811619486683,
+                            -0.7150291146255964
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9748406410217285,
+                    "position": [
+                        -0.014932435271475697,
+                        -0.13469905714737251,
+                        0.0012734870542772114
+                    ],
+                    "orientation": {
+                        "w": 0.5060508526285178,
+                        "xyz": [
+                            -0.5140681461914244,
+                            -0.4941648868205044,
+                            -0.4852293687102431
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9748168587684631,
+                    "position": [
+                        -0.009308211770985508,
+                        -0.13038865785347298,
+                        9.679340291768312e-05
+                    ],
+                    "orientation": {
+                        "w": 0.5148571467419072,
+                        "xyz": [
+                            -0.4898345460906227,
+                            -0.48274680236831735,
+                            -0.5118005087025032
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9745565056800842,
+                    "position": [
+                        -0.004854327333305264,
+                        0.1329691304708831,
+                        0.00416322163073346
+                    ],
+                    "orientation": {
+                        "w": 0.5099783099430291,
+                        "xyz": [
+                            0.5201486365298513,
+                            -0.4935331548526596,
+                            0.47517632976082547
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9744387269020081,
+                    "position": [
+                        -0.021866353494260693,
+                        0.13035305280936882,
+                        0.004741713113617152
+                    ],
+                    "orientation": {
+                        "w": 0.4993457226015641,
+                        "xyz": [
+                            0.5146321622334654,
+                            -0.48522305497193086,
+                            0.5003660398529626
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/bath_products/0c59feae9f1f50acbaf91e6b73ae3f1e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:540dd933d6c25ff4e4b51b3741cff223967d0ab99e939c91905d00a22c2225c7
+size 3777016