Add asset home_appliances/electrical_appliances/ef701d64248d5cefaeaf02233546038a

.gitattributes

@@ -8354,3 +8354,4 @@ dataset/home_appliances/electrical_appliances/d046cdd0878f52e592a1d4ed2308efb9/a
 dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/d6ca5dfb05d05b568ebf9110da84dd71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/eb11cc7b629452ac81cf2edacb3a49c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/ef701d64248d5cefaeaf02233546038a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/home_appliances/electrical_appliances/ef701d64248d5cefaeaf02233546038a/affordance/affordance_annot.json

@@ -0,0 +1,106 @@
+{
+    "affordances": [
+        {
+            "part_name": "main appliance housing",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side or underside of the main housing to lift and reposition the unit carefully",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the housing to stabilize the unit during setup or maintenance",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "enclose internal components",
+                "protect the mechanism",
+                "provide main structural body",
+                "support attachment of legs and vents"
+            ],
+            "semantic_description": "Large white plastic outer casing with a smooth glossy surface and rounded rectangular shape, forming the main body of the appliance with side vent grilles, top panel contours, and small indicator markings on one side.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9110895395278931,
+                    "position": [
+                        -0.23545675911009312,
+                        0.015546460752375424,
+                        0.04240248864516616
+                    ],
+                    "orientation": {
+                        "w": 0.666001393329827,
+                        "xyz": [
+                            0.34193139801239836,
+                            0.6073788965669156,
+                            0.26573659729358257
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8911900520324707,
+                    "position": [
+                        -0.23271883465349674,
+                        -0.0030971317319199443,
+                        0.0032031105365604162
+                    ],
+                    "orientation": {
+                        "w": 0.7283529833223753,
+                        "xyz": [
+                            0.04651583736491273,
+                            0.6469256309374535,
+                            0.2209647858728041
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "support stand frame",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower stand bar or leg to steady the unit while placing it on a surface",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the stand frame during careful repositioning or alignment",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "support the unit",
+                "raise the body off the surface",
+                "stabilize placement",
+                "provide ground contact"
+            ],
+            "semantic_description": "Dark gray to black support frame with elongated bars and legs, matte finish, mounted beneath and around the appliance to support and elevate it.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_31": {
+                    "confidence": 0.5524781346321106,
+                    "position": [
+                        -0.015039271675050259,
+                        0.06140549306292087,
+                        0.27869964903220534
+                    ],
+                    "orientation": {
+                        "w": 0.006463200182240781,
+                        "xyz": [
+                            -0.05219922388067727,
+                            -0.9985445350669386,
+                            -0.011928099497003688
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/home_appliances/electrical_appliances/ef701d64248d5cefaeaf02233546038a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eaf1caca10581081facb826f5c1e0deddfb3355afd343ec6c3e0c5088edada4
+size 1816188

dataset/home_appliances/electrical_appliances/ef701d64248d5cefaeaf02233546038a/ef701d64248d5cefaeaf02233546038a.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>