Add asset home_appliances/electrical_appliances/87923dfaba255d3b8da91897c28285d2

.gitattributes

@@ -8341,3 +8341,4 @@ dataset/home_appliances/electrical_appliances/6ff64ebc1dfe57d2a8c697c97afd4e40/a
 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/87923dfaba255d3b8da91897c28285d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/home_appliances/electrical_appliances/87923dfaba255d3b8da91897c28285d2/87923dfaba255d3b8da91897c28285d2.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/87923dfaba255d3b8da91897c28285d2/affordance/affordance_annot.json

@@ -0,0 +1,108 @@
+{
+    "affordances": [
+        {
+            "part_name": "washing machine cabinet",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side edges of the cabinet to help reposition the appliance slightly during installation",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the cabinet to stabilize the machine while opening the door or detergent drawer",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "enclose internal components",
+                "support the appliance structure",
+                "provide exterior protective surfaces",
+                "stabilize the machine on the floor"
+            ],
+            "semantic_description": "Large white to light gray outer cabinet with smooth hard metal or coated surfaces, boxy shape, forming the sides, much of the front surround, and lower exterior of the washing machine.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "place a gripper on the front or side edge of the top panel to steady the appliance during service or installation",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the top edge together with another cabinet area when lifting or repositioning the machine slightly",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "cover the appliance from above",
+                "provide a flat resting surface",
+                "protect internal components from above",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Broad white top panel with a smooth matte finish, slightly rounded rectangular shape, mounted across the uppermost part of the washing machine.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front door",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front-loading door rim to pull the door open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the door edge to swing it closed",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "lightly hold the door while loading or unloading laundry",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the drum opening",
+                "allow loading and unloading",
+                "contain laundry during washing",
+                "provide front access to the drum"
+            ],
+            "semantic_description": "Large circular front door with a white outer rim and a dark blue-tinted translucent window, glossy smooth hard surfaces, located prominently on the front of the machine.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "door handle recess",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hook fingers into the recessed handle area to pull the washing machine door open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the recess to control the door while closing it gently",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a pull point",
+                "enable door opening",
+                "improve grip access",
+                "help control door movement"
+            ],
+            "semantic_description": "Small recessed handle area integrated into the door near its edge, appearing as a dark opening within the circular front door assembly and likely made of smooth hard plastic.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Door handle mask/color and part identity are incorrect; maroon segment is control knob, not door recess."
+    }
+}

dataset/home_appliances/electrical_appliances/87923dfaba255d3b8da91897c28285d2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec526fc9312398ca116f24a6c94a9d78ae8436a9498d6f15a17f6d76858544e2
+size 680536