Add asset furniture/chair/4b026bec19645958acf827e57af54693

.gitattributes

@@ -6909,4 +6909,4 @@ dataset/furniture/chair/2efc8403883253df82fe9ecf9649d1cd/affordance/mesh_part_se
 dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/44dd41d5ce395d849c685a1d2070ac05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/4a4a3b28ff5153a78501a4e26ac4f2c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/4b026bec19645958acf827e57af54693/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/4b026bec19645958acf827e57af54693/4b026bec19645958acf827e57af54693.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.845753788948059</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>NO: {"summary":"Base and armrests are merged, with extra noisy fragments; key chair parts not cleanly separated.","merge_groups":[{"colors":["Teal","Green"],"target_part":"backrest","reason":"same rear shell/back surface split across colors"},{"colors":["Pink","Olive"],"target_part":"seat and support assembly","reason":"seat region mixed with base-support color in several views"}]}</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Seat and underside are fragmented into unrelated colors; repeated wheel/arm instances are acceptable.","merge_groups":[{"colors":["Olive","Gray"],"target_part":"seat","reason":"same seat cushion and underside surface split"},{"colors":["Gray","Orange"],"target_part":"seat support underside","reason":"small orange patches are underside fragments"},{"colors":["Pink","Magenta"],"target_part":"chair base","reason":"base hub and caster pieces over-segmented"}]}</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>5</part_count>
+         <part_count>10</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>
                <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/furniture/chair/4b026bec19645958acf827e57af54693/affordance/affordance_annot.json

@@ -0,0 +1,269 @@
+{
+    "affordances": [
+        {
+            "part_name": "backrest",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the backrest to pull or reposition the chair",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the backrest to stabilize the chair during movement or inspection",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support the user's back",
+                "provide torso leaning support",
+                "connect upper seat structure",
+                "help reposition the chair"
+            ],
+            "semantic_description": "Large tall dark blue-gray backrest with a smooth matte upholstered appearance, slightly tapered and curved, positioned above and behind the seat.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat edge to lift or reposition the chair slightly",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "hold the seat to stabilize the chair while adjusting other parts",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide a sitting surface",
+                "connect to chair support structure"
+            ],
+            "semantic_description": "Broad dark blue-gray padded seat cushion with a smooth matte upholstered surface, rounded rectangular shape, located centrally above the wheeled base.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "headrest",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the headrest to help orient or pull the chair",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the headrest to steady the upper chair during movement",
+                    "confidence": 0.65
+                }
+            ],
+            "functional_labels": [
+                "support the head",
+                "support the neck",
+                "provide upper contact comfort",
+                "extend upper back support"
+            ],
+            "semantic_description": "Small rounded dark blue-gray padded headrest with a smooth matte upholstered finish, mounted at the top of the chair above the backrest.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left armrest",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the armrest to pull the chair sideways",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the armrest to stabilize the chair during repositioning",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "support the forearm",
+                "provide a side resting surface",
+                "assist chair repositioning",
+                "define a lateral boundary for the seat"
+            ],
+            "semantic_description": "Medium dark armrest with a hard smooth structure and padded top, horizontally oriented beside the seat on one side of the chair.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right armrest",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the armrest to pull the chair sideways",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the armrest to stabilize the chair during repositioning",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "support the forearm",
+                "provide a side resting surface",
+                "assist chair repositioning",
+                "define a lateral boundary for the seat"
+            ],
+            "semantic_description": "Medium dark armrest with a hard smooth structure and padded top, horizontally oriented beside the seat on the opposite side of the chair.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "five-star base",
+            "mask_color": "Light Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a base spoke to tilt or drag the chair during relocation",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the base to stabilize the chair while servicing the casters",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "distribute load to casters",
+                "provide stability",
+                "connect the chair to the rolling base"
+            ],
+            "semantic_description": "Five-spoke dark base with a hard smooth semi-matte finish, radiating outward beneath the seat as the main lower support structure.",
+            "id": 56,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "caster wheel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a caster wheel during maintenance",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "enable rolling",
+                "reduce friction with the floor",
+                "support one contact point",
+                "allow chair repositioning"
+            ],
+            "semantic_description": "Small dark hard wheel with a smooth slightly reflective surface, mounted at the end of one base leg near the floor.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "caster wheel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a caster wheel during maintenance",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "enable rolling",
+                "reduce friction with the floor",
+                "support one contact point",
+                "allow chair repositioning"
+            ],
+            "semantic_description": "Small dark hard wheel with a smooth slightly reflective surface, mounted at the end of one base leg near the floor.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "caster wheel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a caster wheel during maintenance",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "enable rolling",
+                "reduce friction with the floor",
+                "support one contact point",
+                "allow chair repositioning"
+            ],
+            "semantic_description": "Small dark hard wheel with a smooth slightly reflective surface, mounted at the end of one base leg near the floor.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "caster wheel",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a caster wheel during maintenance",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "enable rolling",
+                "reduce friction with the floor",
+                "support one contact point",
+                "allow chair repositioning"
+            ],
+            "semantic_description": "Small dark hard wheel with a smooth slightly reflective surface, mounted at the end of one base leg near the floor.",
+            "id": 15,
+            "grasp_group": {
+                "grasp_134": {
+                    "confidence": 0.6456957459449768,
+                    "position": [
+                        0.06962011754512787,
+                        -0.08568482287228107,
+                        -0.35455989837646484
+                    ],
+                    "orientation": {
+                        "w": 0.3427180677206983,
+                        "xyz": [
+                            0.16303077880499756,
+                            -0.08025390777519681,
+                            -0.9216965886379518
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "caster wheel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a caster wheel during maintenance",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "enable rolling",
+                "reduce friction with the floor",
+                "support one contact point",
+                "allow chair repositioning"
+            ],
+            "semantic_description": "Small dark hard wheel with a smooth slightly reflective surface, mounted at the end of one base leg near the floor.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/4b026bec19645958acf827e57af54693/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d5133a61db73587dc4c9daaa9bf501189f008942f8d0d5c8f02fe54d290960c
+size 1803484