Add asset home_appliances/electrical_appliances/265cbab0a6145493bf7df5a6061df422

.gitattributes

@@ -8330,3 +8330,4 @@ dataset/home_appliances/electrical_appliances/0e53ce7032ad553693cdfc8dac3d9d39/a
 dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/1bf67b24f40c5ef38704a84c09b42fed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/1f2b54d0fe835885919dc44870598ba2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/265cbab0a6145493bf7df5a6061df422/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/home_appliances/electrical_appliances/265cbab0a6145493bf7df5a6061df422/265cbab0a6145493bf7df5a6061df422.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/265cbab0a6145493bf7df5a6061df422/affordance/affordance_annot.json

@@ -0,0 +1,148 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side or front edges of the cabinet to steady the washing machine during repositioning or installation",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "push against the cabinet body to nudge or slide the machine slightly",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "enclose internal components",
+                "provide structural support",
+                "support other parts",
+                "provide exterior contact surface"
+            ],
+            "semantic_description": "Large white painted metal housing with smooth matte panels, boxy shape, and broad side and front surfaces forming the main body of the washing machine.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "place a hand on the top panel to stabilize the machine while opening the door",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "push down on the top surface to steady the appliance during maintenance or repositioning",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "cover the top",
+                "protect internal components",
+                "provide a flat upper surface"
+            ],
+            "semantic_description": "Flat white top panel with a smooth painted finish, rectangular shape, and full-width placement at the uppermost part of the machine.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "door frame",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the protruding handle area on the door frame to pull the door open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the outer door rim to swing the door closed",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "stabilize the door while loading or unloading laundry",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "support the door window",
+                "open and close the front access door",
+                "provide a pulling surface",
+                "cover the drum opening when shut"
+            ],
+            "semantic_description": "Large circular front door assembly with a light-colored outer ring and a protruding handle on the right side, made of rigid plastic around the dark viewing window.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "door window",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "allow viewing inside",
+                "cover the drum opening",
+                "contain laundry during washing"
+            ],
+            "semantic_description": "Dark transparent window inset within the front door, with a glossy smooth surface, likely glass or clear plastic, located centrally on the door.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "control panel",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display controls",
+                "house user interface elements",
+                "support program selection area"
+            ],
+            "semantic_description": "Rectangular upper front interface area spanning much of the machine width, with darker display sections and smooth plastic finish above the door.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "control knob",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and rotate the selector knob to choose a wash program",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "lightly grasp the knob to adjust machine settings",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "select wash cycle",
+                "adjust settings",
+                "provide rotary input"
+            ],
+            "semantic_description": "Small round selector knob on the upper front control area, light-colored and slightly protruding, with a smooth hard plastic surface for turning.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom trim panel",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover lower front opening",
+                "protect lower internal area",
+                "provide front finishing trim"
+            ],
+            "semantic_description": "Narrow horizontal panel at the lower front edge of the machine, darker colored and slightly recessed compared with the main white cabinet.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and part identities mismatch; knob is not orange, top panel and knob share wrong mask, bottom panel color incorrect."
+    }
+}

dataset/home_appliances/electrical_appliances/265cbab0a6145493bf7df5a6061df422/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1eb87cfbfe40af9d394750798b3f0e4f5919c2b12a610b5eea4b999a64a7b6d
+size 2353408