Add asset home_appliances/electrical_appliances/760f9604612551ab8d0b45c142a17029

.gitattributes

@@ -8338,4 +8338,4 @@ dataset/home_appliances/electrical_appliances/37fbcc432b035633bc93b27fe2888cb1/a
 dataset/home_appliances/electrical_appliances/3bcefd8aafed5612b8bc9cec33b0ce62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/58e18e6e407458d8a647e363ab442bf1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/6ff64ebc1dfe57d2a8c697c97afd4e40/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/home_appliances/electrical_appliances/70292e42c23052b9a1eb09d0be7b05a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/760f9604612551ab8d0b45c142a17029/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/home_appliances/electrical_appliances/760f9604612551ab8d0b45c142a17029/760f9604612551ab8d0b45c142a17029.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/760f9604612551ab8d0b45c142a17029/affordance/affordance_annot.json

@@ -0,0 +1,65 @@
+{
+    "affordances": [
+        {
+            "part_name": "washing machine body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift or reposition the washing machine during transport",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the cabinet sides to stabilize the machine while another tool opens or inspects the door",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "clamp the top or side of the cabinet to pull the machine slightly away from a wall",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "enclose internal mechanisms",
+                "support the whole appliance",
+                "provide structural rigidity",
+                "provide broad grasp surfaces",
+                "stabilize during operation"
+            ],
+            "semantic_description": "Large boxy white and dark gray metal cabinet with mostly matte to semi-gloss hard smooth panels, flat broad sides and top, and a rigid outer shell forming nearly the entire washing machine exterior.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "washing machine door",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front door rim to pull the door open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the door edge to swing it closed",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "lightly grasp the protruding door frame to steady the front while loading or unloading",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "cover the drum opening",
+                "enable loading and unloading",
+                "provide access to the interior",
+                "seal the front opening when closed"
+            ],
+            "semantic_description": "Large circular dark gray to black front-loading door with a glossy hard plastic and glass appearance, smooth reflective surface, thick protruding ring shape, and prominent placement on the front face.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/home_appliances/electrical_appliances/760f9604612551ab8d0b45c142a17029/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e93fc780e18ebd28ab58df523a650ea6c570cdd38f605c36c3a7e8dd48c980e4
+size 1855916