Add asset furniture/chair/2efc8403883253df82fe9ecf9649d1cd

.gitattributes

@@ -6905,3 +6905,4 @@ dataset/furniture/chair/05f5b92fac8b5d7bb215d3876ab2b361/affordance/mesh_part_se
 dataset/furniture/chair/10c87a4ce36a5b089a8b3cbf59a56e0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/168dc892fd225cf1bde437bebb61bc98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/227d2228bfda5cf482a89fe7b57707ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/2efc8403883253df82fe9ecf9649d1cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/2efc8403883253df82fe9ecf9649d1cd/2efc8403883253df82fe9ecf9649d1cd.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.922396302223206</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>5</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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/2efc8403883253df82fe9ecf9649d1cd/affordance/affordance_annot.json

@@ -0,0 +1,130 @@
+{
+    "affordances": [
+        {
+            "part_name": "backrest and armrest frame",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest or side frame to pull or reposition the chair",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the upper frame to stabilize the chair during inspection or assembly",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the backrest frame to tilt or rotate the chair slightly",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "support the user's back",
+                "provide arm support",
+                "connect upper seating structure",
+                "serve as main upper structural frame",
+                "enable repositioning by side hold"
+            ],
+            "semantic_description": "Large black upper frame with a matte hard smooth surface, forming the backrest support and looped armrests around the upper sides of the chair.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front or side edge of the seat to drag or reposition the chair",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the seat underside or edge to steady the chair while moving it short distances",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide contact comfort",
+                "serve as main sitting surface"
+            ],
+            "semantic_description": "Broad black seat with a matte soft-looking surface and rounded rectangular shape, positioned centrally below the backrest and appearing slightly padded.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chair base spokes",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a base spoke to lift or rotate the lower chair assembly",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the central base area and adjacent spoke to stabilize the chair during maintenance",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "distribute load to the floor",
+                "connect the central column to the casters",
+                "stabilize the lower structure"
+            ],
+            "semantic_description": "Five-spoke base beneath the seat, appearing light gray to white in the image, with smooth slender legs extending radially from the center toward the casters.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "caster wheel",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "roll on the floor",
+                "enable chair mobility",
+                "reduce friction while moving",
+                "support one contact point"
+            ],
+            "semantic_description": "Small dark caster wheel at the end of one base leg, with a compact rounded shape intended for floor contact.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "caster wheel",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "roll on the floor",
+                "enable chair mobility",
+                "reduce friction while moving",
+                "support one contact point"
+            ],
+            "semantic_description": "Small dark caster wheel at the end of one base leg, with a compact rounded shape intended for floor contact.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "caster wheel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "roll on the floor",
+                "enable chair mobility",
+                "reduce friction while moving",
+                "support one contact point"
+            ],
+            "semantic_description": "Small dark caster wheel at the end of one base leg, with a compact rounded shape intended for floor contact.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors mismatched; magenta reused for different parts, white is base not caster, and caster colors incomplete/incorrect."
+    }
+}

dataset/furniture/chair/2efc8403883253df82fe9ecf9649d1cd/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135b890c92e9e6916f9f077462f89e3684fe9bd6953fda65372a740b2367d5c3
+size 546068