Add asset home_appliances/electrical_appliances/060566ebdbf5580aaea6fdebce40c2aa

.gitattributes

@@ -6988,3 +6988,4 @@ dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/affordance/mesh_part_se
 dataset/furniture/table/f2382ad41208550eb278b73daa0d3ff5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/fa7b59f30c8b527eb0a9a03f051f6652/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/fbff69cb273251e5b86bf1961be063c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/060566ebdbf5580aaea6fdebce40c2aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/home_appliances/electrical_appliances/060566ebdbf5580aaea6fdebce40c2aa/060566ebdbf5580aaea6fdebce40c2aa.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/060566ebdbf5580aaea6fdebce40c2aa/affordance/affordance_annot.json

@@ -0,0 +1,232 @@
+{
+    "affordances": [
+        {
+            "part_name": "air conditioner housing",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift or reposition the air conditioner",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the body to stabilize the unit during maintenance or transport",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "enclose internal components",
+                "provide main structural body",
+                "protect internal mechanisms",
+                "provide broad contact surfaces for handling"
+            ],
+            "semantic_description": "Large white outer cabinet with a smooth hard plastic surface, tall tapered rectangular form with rounded edges, covering most of the unit and surrounding the front vent/control area.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_27": {
+                    "confidence": 0.9002644419670105,
+                    "position": [
+                        -0.23519672267138958,
+                        -0.022076870896853507,
+                        0.006960229016840458
+                    ],
+                    "orientation": {
+                        "w": 0.6805761151858318,
+                        "xyz": [
+                            0.1883670368771165,
+                            0.6842284157643087,
+                            0.18211393663682288
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.8941291570663452,
+                    "position": [
+                        -0.23588780872523785,
+                        -0.05326264689210802,
+                        0.048949272371828556
+                    ],
+                    "orientation": {
+                        "w": 0.5326425120202422,
+                        "xyz": [
+                            0.4749845586211876,
+                            0.5668447104820098,
+                            0.41154428395832193
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front control and vent panel",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display settings",
+                "provide user controls",
+                "direct airflow",
+                "cover front outlet area"
+            ],
+            "semantic_description": "Front upper-middle panel area on the white unit, including a dark glossy display/control window and a vent section with horizontal slats below; compact, hard plastic, positioned on the front face.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear lower tray or filter cover",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pull the lower rear tray/cover outward for access or repositioning",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the protruding lower rear section to steady the unit during maintenance",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "cover or provide access to lower rear components",
+                "support the unit at the bottom",
+                "form the rear bottom protruding section"
+            ],
+            "semantic_description": "Black lower rear protruding panel or tray with a smooth plastic finish, larger than simple feet, visible as a broad bottom section extending from the back underside of the air conditioner.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.6670284271240234,
+                    "position": [
+                        0.2125659752637148,
+                        0.0026511334581300616,
+                        -0.11154531221836805
+                    ],
+                    "orientation": {
+                        "w": 0.7537170767234473,
+                        "xyz": [
+                            -0.03200192606599903,
+                            -0.6527653601515938,
+                            -0.06916523382226057
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.6233157515525818,
+                    "position": [
+                        0.22187510319054127,
+                        -0.020654851221479475,
+                        -0.11268416326493025
+                    ],
+                    "orientation": {
+                        "w": 0.7464065332625547,
+                        "xyz": [
+                            -0.02063648807601924,
+                            -0.6583886304879514,
+                            -0.0947408766428876
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.7922137975692749,
+                    "position": [
+                        0.20993276126682758,
+                        -0.03939733619336039,
+                        -0.08008045237511396
+                    ],
+                    "orientation": {
+                        "w": 0.761757657406959,
+                        "xyz": [
+                            -0.13828636122266205,
+                            -0.629243079840185,
+                            0.06822976003838489
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.5495127439498901,
+                    "position": [
+                        0.22351850755512714,
+                        0.056690302095375955,
+                        -0.044690935872495174
+                    ],
+                    "orientation": {
+                        "w": 0.7294506388103432,
+                        "xyz": [
+                            0.10916128757031948,
+                            -0.6731660565922454,
+                            -0.053226300709496306
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.49490267038345337,
+                    "position": [
+                        0.23880690522491932,
+                        0.011084542027674615,
+                        -0.10063887666910887
+                    ],
+                    "orientation": {
+                        "w": 0.13568105862631244,
+                        "xyz": [
+                            -0.6886218606401282,
+                            -0.1033626274138214,
+                            0.7047742550864659
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.3748532831668854,
+                    "position": [
+                        0.25073802657425404,
+                        0.014675706974230707,
+                        -0.1466214982792735
+                    ],
+                    "orientation": {
+                        "w": 0.7158662721349514,
+                        "xyz": [
+                            0.08034108467029381,
+                            -0.6894574226536803,
+                            -0.07569182836576939
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.7301832437515259,
+                    "position": [
+                        -0.2418686430901289,
+                        0.032029942027293146,
+                        0.05846883077174425
+                    ],
+                    "orientation": {
+                        "w": 0.6785675762230489,
+                        "xyz": [
+                            0.09355922489253181,
+                            0.7226353184557928,
+                            -0.09268717525407905
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.7272186279296875,
+                    "position": [
+                        0.1991825271397829,
+                        0.05184244399424642,
+                        -0.14359650295227766
+                    ],
+                    "orientation": {
+                        "w": 0.8132482296774045,
+                        "xyz": [
+                            -0.054419171802289994,
+                            -0.5773225702547217,
+                            0.04862633588296357
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green part is a base/drip tray, not a rear lower filter cover; semantics and functions mismatch visible geometry."
+    }
+}

dataset/home_appliances/electrical_appliances/060566ebdbf5580aaea6fdebce40c2aa/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3d3bf392053272e9e4b943d9784ff29c8fb3a67f7acdb8aadd85f73fa2ad01f
+size 1412340