Add asset furniture/chair/8faec18bd3ab546f9d78097cdfba70c1

.gitattributes

@@ -6918,3 +6918,4 @@ dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/affordance/mesh_part_se
 dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/8ef7dc83766750919e80a41fbc812966/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/8faec18bd3ab546f9d78097cdfba70c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/8faec18bd3ab546f9d78097cdfba70c1/8faec18bd3ab546f9d78097cdfba70c1.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/furniture/chair/8faec18bd3ab546f9d78097cdfba70c1/affordance/affordance_annot.json

@@ -0,0 +1,272 @@
+{
+    "affordances": [
+        {
+            "part_name": "backrest",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the backrest to pull or reposition the stool",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the backrest to stabilize the stool during placement",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "support the sitter's back",
+                "provide a pulling handle",
+                "help orient the stool",
+                "add upper-body stability"
+            ],
+            "semantic_description": "Medium-sized dark gray upholstered backrest with a matte fabric-like finish and smooth slightly cushioned texture, mounted at the rear top of the stool as a gently curved rectangular panel.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat edges to lift the bar stool",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "hold the seat to stabilize the stool while moving it",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide a top contact surface",
+                "connect to the frame"
+            ],
+            "semantic_description": "Large dark gray seat cushion with a matte upholstered surface, soft smooth padding, and a broad slightly tapered rectangular shape positioned on top of the frame.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear seat apron",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear apron beneath the seat to help reposition the stool",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold the rear apron to steady the upper frame during manipulation",
+                    "confidence": 0.53
+                }
+            ],
+            "functional_labels": [
+                "support the rear edge of the seat",
+                "connect the rear uprights beneath the seat",
+                "stiffen the upper rear frame",
+                "transfer load from the seat into the frame"
+            ],
+            "semantic_description": "Narrow dark gray horizontal structural member with a smooth hard finish, located directly beneath the back edge of the seat between the rear uprights.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front left leg",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a front leg to drag or rotate the stool",
+                    "confidence": 0.59
+                },
+                {
+                    "scenario": "hold the leg while aligning the stool position",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "support the stool",
+                "elevate the seat",
+                "transfer load to the floor",
+                "provide structural stability"
+            ],
+            "semantic_description": "Long slender dark gray leg with a hard smooth painted-metal appearance and mildly glossy finish, descending vertically at one front corner to the floor.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front right leg",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a front leg to drag or rotate the stool",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the leg while aligning the stool position",
+                    "confidence": 0.53
+                }
+            ],
+            "functional_labels": [
+                "support the stool",
+                "elevate the seat",
+                "transfer load to the floor",
+                "provide structural stability"
+            ],
+            "semantic_description": "Long slender dark gray leg with a hard smooth painted-metal appearance and mildly glossy finish, descending vertically at the other front corner to the floor.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear left leg",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a rear leg to reposition the stool",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "hold the leg to steady the frame during lifting",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "support the stool",
+                "anchor the back side",
+                "transfer load to the floor",
+                "provide structural stability"
+            ],
+            "semantic_description": "Long slim dark gray rear leg with a hard smooth slightly glossy finish, extending from the seat and backrest area down to the floor at the rear side.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear right leg",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a rear leg to reposition the stool",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "hold the leg to steady the frame during lifting",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "support the stool",
+                "anchor the back side",
+                "transfer load to the floor",
+                "provide structural stability"
+            ],
+            "semantic_description": "Long slim dark gray rear leg with a hard smooth slightly glossy finish, extending from the seat and backrest area down to the floor at the rear side.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front stretcher",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front stretcher as a low crossbar to slide the stool",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the stretcher to stabilize the stool near the base",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "serve as a footrest",
+                "brace the front legs",
+                "stiffen the lower frame",
+                "support user foot placement"
+            ],
+            "semantic_description": "Narrow dark gray horizontal bar with a hard smooth slightly glossy surface, spanning between the front legs low on the stool and sized for resting feet.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side stretcher",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side stretcher to steady or pull the stool sideways",
+                    "confidence": 0.48
+                },
+                {
+                    "scenario": "hold the stretcher during low-level manipulation",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "brace the side legs",
+                "stiffen the frame",
+                "support foot placement",
+                "maintain leg spacing"
+            ],
+            "semantic_description": "Slim dark gray horizontal side bar with a hard smooth finish, connecting the legs on one side of the stool low below the seat.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side stretcher",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side stretcher to steady or pull the stool sideways",
+                    "confidence": 0.48
+                },
+                {
+                    "scenario": "hold the stretcher during low-level manipulation",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "brace the side legs",
+                "stiffen the frame",
+                "support foot placement",
+                "maintain leg spacing"
+            ],
+            "semantic_description": "Slim dark gray horizontal side bar with a hard smooth finish, connecting the legs on the opposite side of the stool low below the seat.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear stretcher",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear stretcher to drag or stabilize the stool from behind",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the rear crossbar during low repositioning",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "brace the rear legs",
+                "stiffen the lower frame",
+                "maintain leg spacing",
+                "support structural rigidity"
+            ],
+            "semantic_description": "Thin dark gray rear crossbar with a hard smooth slightly glossy surface, spanning between the back legs low on the stool behind the seat.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/8faec18bd3ab546f9d78097cdfba70c1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22533032f4ba080895c7a381767775d80008e2dcdb79d43bd323c18ad55f3bad
+size 1354508