Add asset home_appliances/electrical_appliances/0471e7fcfb9d53c2b34057079cf91efd

.gitattributes

@@ -6987,3 +6987,4 @@ dataset/furniture/table/ceba2ffe34c85af6994b3276b2618fa4/affordance/mesh_part_se
 dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/f2382ad41208550eb278b73daa0d3ff5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/fa7b59f30c8b527eb0a9a03f051f6652/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/0471e7fcfb9d53c2b34057079cf91efd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/home_appliances/electrical_appliances/0471e7fcfb9d53c2b34057079cf91efd/0471e7fcfb9d53c2b34057079cf91efd.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/0471e7fcfb9d53c2b34057079cf91efd/affordance/affordance_annot.json

@@ -0,0 +1,82 @@
+{
+    "affordances": [
+        {
+            "part_name": "washing machine body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side edges or lower cabinet to help reposition the washing machine during transport or installation",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the cabinet sides or front edges to stabilize the appliance while another manipulator opens the door or services it",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "enclose internal drum and mechanisms",
+                "provide structural support",
+                "support placement on the floor",
+                "serve as the main stabilization and lifting surface"
+            ],
+            "semantic_description": "Large boxy washing machine cabinet with a white front face and dark gray side and rear metal panels, smooth painted surfaces, shallow stamped side ribs, and the main structure surrounding the controls and door.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "place a gripper on the top edges or corners to steady the appliance during door opening or maintenance",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "use the top perimeter as a secondary hold while lifting or sliding the machine with another support point",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "cover internal components",
+                "provide a flat upper surface",
+                "complete the outer enclosure"
+            ],
+            "semantic_description": "Flat rectangular medium-to-dark gray top panel, likely painted metal, with a smooth hard surface spanning the entire upper side of the washing machine.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "door handle and detergent drawer pull",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the protruding door handle to pull the front door open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the door handle area to guide the door closed gently",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the detergent drawer pull to open the detergent drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a grip point for opening and closing the front door",
+                "provide a grip point for opening the detergent drawer",
+                "support user interaction with front access components"
+            ],
+            "semantic_description": "Small front interaction parts on the white front panel: a vertical white protruding door handle attached to the circular front door, and a small white recessed/protruding pull at the upper left for the detergent drawer. Both appear smooth plastic.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red mask is only the door and drawer fronts, not isolated handles; part identity and grasp description are incorrect."
+    }
+}

dataset/home_appliances/electrical_appliances/0471e7fcfb9d53c2b34057079cf91efd/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0621ddc691e98a64fdc77c9a97d3d7536441ace99c65a11860a9ab84bf70d5c4
+size 760576