Add asset home_appliances/electrical_appliances/1f2b54d0fe835885919dc44870598ba2

.gitattributes

@@ -8329,3 +8329,4 @@ dataset/food/fruits/ca0c894932425ba68842c591bf6ff608/affordance/mesh_part_seg.gl
 dataset/home_appliances/electrical_appliances/0e53ce7032ad553693cdfc8dac3d9d39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/1f2b54d0fe835885919dc44870598ba2/1f2b54d0fe835885919dc44870598ba2.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/1f2b54d0fe835885919dc44870598ba2/affordance/affordance_annot.json

@@ -0,0 +1,164 @@
+{
+    "affordances": [
+        {
+            "part_name": "top cover",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "place a stabilizing gripper on the top panel while another manipulates a front door",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "grasp a top edge to help reposition the appliance during installation",
+                    "confidence": 0.47
+                }
+            ],
+            "functional_labels": [
+                "cover the appliance top",
+                "protect internal components",
+                "provide a flat external surface"
+            ],
+            "semantic_description": "Large flat white metal top panel with a smooth satin finish and broad rectangular shape forming the uppermost surface.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper front and side housing",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an upper side or front edge to help push or reposition the machine",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "brace the upper housing to stabilize the appliance while opening the upper door",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "enclose upper dryer components",
+                "support the upper door and control area",
+                "provide structural housing",
+                "provide an external push surface"
+            ],
+            "semantic_description": "White painted metal housing around the upper half of the appliance, including the upper front surround and upper side surfaces, with a smooth satin finish and boxy shape.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower front and side housing",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a lower side edge to help reposition the machine",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "hold the lower housing to stabilize the appliance while opening the lower door",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "enclose lower washer components",
+                "support the lower door",
+                "provide structural base housing",
+                "provide an external push surface"
+            ],
+            "semantic_description": "White painted metal lower body section with a smooth satin finish and broad boxy form making up the lower half of the exterior, including lower front and side surfaces.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper door rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper door rim to pull the upper front-loading door open",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the rim to swing or close the upper door",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "open the upper door",
+                "close the upper door",
+                "provide a pull point",
+                "frame the upper window"
+            ],
+            "semantic_description": "Circular white plastic door ring on the upper front with a smooth glossy finish surrounding the dark viewing window.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper door window",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "allow viewing into the upper drum",
+                "cover the upper opening",
+                "contain laundry during operation"
+            ],
+            "semantic_description": "Dark tinted transparent window set inside the upper door, likely glass or clear plastic, with a glossy smooth surface and oval appearance from the viewing angle.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower door rim and window",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower door edge or rim area to pull the lower front-loading door open",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the lower door edge to swing or close the lower door",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "open the lower door",
+                "close the lower door",
+                "allow viewing into the lower drum",
+                "cover the lower opening"
+            ],
+            "semantic_description": "Lower front circular door assembly with a white outer rim and dark tinted central window, glossy and smooth, centered on the lower front.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear panel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "use the rear panel as a broad stabilizing contact area during handling or installation",
+                    "confidence": 0.44
+                },
+                {
+                    "scenario": "grasp near a rear edge together with another housing area to help rotate or reposition the appliance",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "enclose the rear of the appliance",
+                "provide structural exterior housing",
+                "protect internal components"
+            ],
+            "semantic_description": "White painted metal rear panel with a smooth satin finish and flat rectangular surface, visible most clearly from the back view near the upper portion.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Rear panel mislabeled; cyan mask marks only upper rear/side section, not full rear panel."
+    }
+}

dataset/home_appliances/electrical_appliances/1f2b54d0fe835885919dc44870598ba2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc41e72fb7bf1b1d2348d7858ffc840665ac4ffdc2dafd5f422a91948d01e05e
+size 558856