Add asset home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790

.gitattributes

@@ -8351,3 +8351,4 @@ dataset/home_appliances/electrical_appliances/bdc8e051cb5e54ec91a276e106b04621/a
 dataset/home_appliances/electrical_appliances/c2cfbe38f3ef5ef289564a83aecfc700/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/d5331df47af858968ed1f0843434b4af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/d046cdd0878f52e592a1d4ed2308efb9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/affordance/affordance_annot.json

@@ -0,0 +1,134 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "place a broad gripper on the top to stabilize the washing machine during repositioning",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "support the machine from above while another gripper manipulates the front door",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "cover internal components",
+                "provide a top support surface",
+                "stabilize the appliance structure"
+            ],
+            "semantic_description": "Large flat dark gray to black top panel made of hard smooth plastic or coated metal with a matte to low-gloss finish, occupying the entire top surface of the machine.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side cabinet walls to lift or reposition the washing machine with a large gripper",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold a side panel to stabilize the appliance while opening the door",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "enclose internal mechanisms",
+                "provide structural support",
+                "protect internal components",
+                "provide main grasp surface"
+            ],
+            "semantic_description": "Large white hard metal cabinet with a semi-gloss smooth finish and shallow vertical stamped ribs, forming the side and rear housing of the appliance.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front lower panel",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "brace the lower front panel to stabilize the machine while another gripper pulls the door",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "grasp the lower front cabinet edge for careful repositioning",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "form the lower front face of the cabinet",
+                "surround the door opening on the lower front",
+                "provide structural enclosure"
+            ],
+            "semantic_description": "White hard front lower housing panel with a smooth semi-gloss finish, vertically oriented on the front face below and around the door opening, not including the dark control strip.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "door",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the protruding front door rim to pull the washing machine door open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the door to swing it closed",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "stabilize the door while inspecting or loading the drum",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "cover the drum opening",
+                "allow loading and unloading",
+                "provide access to the wash chamber",
+                "seal during operation"
+            ],
+            "semantic_description": "Large circular front-loading door with a dark tinted transparent window and glossy plastic rim, hard and smooth, protruding from the front center of the machine.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom base panel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the underside base of the appliance",
+                "support the cabinet from below",
+                "protect lower internal components"
+            ],
+            "semantic_description": "Large flat white underside base panel with a smooth hard finish, visible when the machine is viewed from below and spanning most of the bottom surface.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "control strip",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "house controls and indicators",
+                "support user input",
+                "display settings"
+            ],
+            "semantic_description": "Narrow dark front control strip with a glossy smooth surface, located at the upper front right area near the knob and containing buttons or display elements.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Bottom panel description/color wrong; control strip position too specific and front panel graspability overstated."
+    }
+}

dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4981e0763dc34ae566a5c1b95cb0274943cd9e02a232e6ad229271d9b2ee5ed4
+size 784916

dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/da50e797146353378f8d7c75cdefd790.urdf

@@ -52,6 +52,7 @@
                <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>
    </custom_data>
 </robot>