# UCBProject / ProcessedData

Phase 1A outputs of the Affordance2Grasp pipeline — used by downstream phases:
* **Phase 2** (training the main method's PointNet++ contact-prediction net) reads
  `training_fp/{dataset}/{object}.hdf5`.
* **Phase 3** (inference, grasp sampling, sim execution, Sim2Real deployment) reads
  per-object affordance priors from `human_prior_fp/{object}.hdf5`.

The upstream object meshes (SAM3D reconstructions) live in a sibling repo,
[`UCBProject/ObjMesh`](https://huggingface.co/datasets/UCBProject/ObjMesh).

## Layout

```
training_fp/
  oakink/   100 files   (A* C* O* S* Y* — OakInk object IDs)
  dexycb/    20 files   (ycb_dex_01 ... ycb_dex_20 — DexYCB grasp objects)
human_prior_fp/
  A01001.hdf5 ... Y35037.hdf5   100 oakink files
  ycb_dex_01.hdf5 ... ycb_dex_20.hdf5   20 dexycb files
```

## HDF5 schema

### `training_fp/{ds}/{obj}.hdf5` (training-ready)
| key | shape | dtype | meaning |
|---|---|---|---|
| `point_cloud` | (4096, 3) | float32 | 4096 surface samples of the SAM3D object mesh (metric m, mesh canonical frame) |
| `normals` | (4096, 3) | float32 | per-point unit normals |
| `human_prior` | (4096,) | float32 | per-point contact probability in [0, 1] (Gaussian-smoothed, per-object max-normalised) |
| `robot_gt` | (4096,) | float32 | all-zero placeholder (no robot ground truth for this regime) |
| `force_center` | (3,) | float32 | centroid of mesh verts with `contact_smooth >= 80th percentile` |
| attr `object` | str | — | object id (e.g. `ycb_dex_14` or `A01001`) |

### `human_prior_fp/{obj}.hdf5` (inference-ready, indexed by object only)
Same five fields as above. Same content as `training_fp/{ds}/{obj}.hdf5`, but flattened
across datasets so that `inference/predictor.py` can read by object id alone.

## Provenance

Generated by:
* `data/batch_depth_pro.py` → `data/batch_haptic.py` → `tools/batch_obj_pose.py` → `data/batch_align_mano_fp.py`
* Source raw data: DexYCB (NVIDIA, CC-BY-NC-4.0) + OakInk (CVPR 2022).
* Phase 1A run on lab RTX 5090; OakInk completed 2026-05-10, DexYCB completed 2026-05-14.

HO3D-v3 and ARCTIC are not included here — those will be added when the partner runs
their Phase 1A on those datasets.