Add asset bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c

.gitattributes

@@ -5637,4 +5637,4 @@ dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/afforda
 dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/affordance/affordance_annot.json

@@ -0,0 +1,129 @@
+{
+    "affordances": [
+        {
+            "part_name": "soap tray",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray from opposite side walls to lift the soap dish",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "pinch the tray edge to reposition the soap dish on a counter",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the tray while separating it from the base",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "support the bar of soap",
+                "drain water through holes",
+                "keep soap elevated",
+                "provide main holding structure"
+            ],
+            "semantic_description": "Shallow square light pink plastic tray with a matte smooth hard surface, rounded corners, raised rim, and multiple drainage holes across the top, forming the upper main body of the soap dish.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base pad",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base edges to pick up the whole soap dish",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the base to stabilize the dish while removing the tray",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "pinch a corner of the base to slide or reposition it",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "support the tray",
+                "stabilize on countertop",
+                "provide non-slip contact",
+                "catch drips underneath"
+            ],
+            "semantic_description": "Flat square white pad-like base, likely silicone or rubber, with a matte slightly textured hard-to-firm surface, rounded corners, and a slightly larger footprint beneath the pink tray.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9146407842636108,
+                    "position": [
+                        0.05545598216122016,
+                        0.1455995481228456,
+                        7.49039463698864e-06
+                    ],
+                    "orientation": {
+                        "w": 0.46273473929236064,
+                        "xyz": [
+                            0.46586362749511434,
+                            0.5317062179811161,
+                            -0.5349169462536613
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.7648631930351257,
+                    "position": [
+                        -0.13431022741133347,
+                        -0.0006919155712239444,
+                        0.02756044315174222
+                    ],
+                    "orientation": {
+                        "w": 0.2021250489909481,
+                        "xyz": [
+                            0.7370705365044379,
+                            -0.1737451200205823,
+                            0.6210355239891682
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.8065366148948669,
+                    "position": [
+                        0.11118837766116485,
+                        -0.10691559652332217,
+                        -0.020096959080547094
+                    ],
+                    "orientation": {
+                        "w": 0.21158309841719253,
+                        "xyz": [
+                            -0.6536433927048183,
+                            0.15933228790626042,
+                            0.7089401453353251
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.737725019454956,
+                    "position": [
+                        0.10763477109139785,
+                        0.10948684473987669,
+                        -0.018081804271787405
+                    ],
+                    "orientation": {
+                        "w": 0.33298555785851713,
+                        "xyz": [
+                            0.5697813158741758,
+                            0.3615530826148755,
+                            -0.6585964157130112
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81748b716d4e7bc34e56d4d13a871bfe25af3b0edd4c48adea6bf9e0aac781e4
+size 3779504

dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/soap_dish_024.urdf

@@ -58,6 +58,7 @@
                <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>