Add asset home_appliances/electrical_appliances/87c7d44551005c6ca09acc1f8febd205

.gitattributes

@@ -8340,3 +8340,4 @@ dataset/home_appliances/electrical_appliances/58e18e6e407458d8a647e363ab442bf1/a
 dataset/home_appliances/electrical_appliances/6ff64ebc1dfe57d2a8c697c97afd4e40/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/760f9604612551ab8d0b45c142a17029/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/87c7d44551005c6ca09acc1f8febd205/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/home_appliances/electrical_appliances/87c7d44551005c6ca09acc1f8febd205/87c7d44551005c6ca09acc1f8febd205.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>

dataset/home_appliances/electrical_appliances/87c7d44551005c6ca09acc1f8febd205/affordance/affordance_annot.json

@@ -0,0 +1,70 @@
+{
+    "affordances": [
+        {
+            "part_name": "washing machine body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to stabilize or reposition the washing machine during transport",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the body while pushing or rotating the unit into place",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "enclose internal components",
+                "support the full appliance",
+                "provide main structural housing",
+                "provide exterior surfaces for stabilizing"
+            ],
+            "semantic_description": "Large white outer housing with a smooth glossy finish and rounded rectangular form, making up the main side and lower exterior of the top-loading washing machine; the base/foot area is dark gray to black.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front or side edge of the top rim to steady the machine while interacting with the lid area",
+                    "confidence": 0.47
+                },
+                {
+                    "scenario": "use the rim edge as a light repositioning hold during installation",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "frame the top opening",
+                "support the lid opening area",
+                "provide edge for stabilization",
+                "protect the opening perimeter"
+            ],
+            "semantic_description": "White top surround with a smooth glossy surface, broad rounded rectangular ring shape, positioned around the top opening of the washer.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid window insert",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "allow viewing into the tub through the lid",
+                "form a transparent section of the lid",
+                "help cover the opening as part of the lid assembly"
+            ],
+            "semantic_description": "Dark tinted transparent insert set within the top lid area, rounded rectangular to oval in shape and glossy in appearance, centered over the washer opening.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Orange part is lid opening/tub interior, not a lid window insert; object has no visible transparent lid window."
+    }
+}

dataset/home_appliances/electrical_appliances/87c7d44551005c6ca09acc1f8febd205/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4a1eac00aaa91c0c5458530f3827bcbe700f096cf1dca1bfdab7fe3c8fe21b7
+size 1467580