Add asset furniture/chair/44dd41d5ce395d849c685a1d2070ac05

.gitattributes

@@ -6908,3 +6908,4 @@ dataset/furniture/chair/227d2228bfda5cf482a89fe7b57707ce/affordance/mesh_part_se
 dataset/furniture/chair/2efc8403883253df82fe9ecf9649d1cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/44dd41d5ce395d849c685a1d2070ac05/44dd41d5ce395d849c685a1d2070ac05.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/44dd41d5ce395d849c685a1d2070ac05/affordance/affordance_annot.json

@@ -0,0 +1,248 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat edges to lift and reposition the chair",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the seat surface and edge to stabilize the chair during placement",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide main sitting surface",
+                "serve as a central lifting area"
+            ],
+            "semantic_description": "Flat rectangular light wood seat with a woven cane or perforated-looking central panel, smooth wooden border, matte finish, and central position between the legs.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "backrest panel",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper backrest to pull the chair out from a table",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the backrest to rotate or align the chair",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "support the back",
+                "provide upright posture support",
+                "serve as a pulling surface",
+                "define chair orientation"
+            ],
+            "semantic_description": "Curved light tan wooden backrest panel with a matte smooth hard finish, subtle grain, and a broad upright shape at the rear top of the chair.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear left leg",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear leg to steady or pivot the chair during repositioning",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "hold the rear leg while tilting the chair for transport",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "transfer load to the floor",
+                "stabilize rear left corner",
+                "maintain seating height"
+            ],
+            "semantic_description": "Slightly curved light wood rear left leg with a matte smooth hard surface, extending from the rear left side of the seat area down to the floor and visually continuing upward beside the backrest.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear right leg",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear leg to steady or pivot the chair during repositioning",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the rear leg while tilting the chair for transport",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "transfer load to the floor",
+                "stabilize rear right corner",
+                "maintain seating height"
+            ],
+            "semantic_description": "Slightly curved light wood rear right leg with a matte smooth hard surface, extending from the rear right side of the seat area down to the floor and visually continuing upward beside the backrest.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front left leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower leg to tilt or lift one side of the chair",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "hold the leg to stabilize the chair during transport",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "transfer load to the floor",
+                "stabilize front left corner",
+                "maintain seating height"
+            ],
+            "semantic_description": "Straight narrow light wood leg with a matte smooth hard finish and subtle grain, extending vertically from the front left corner to the floor.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front right leg",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower leg to tilt or lift one side of the chair",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the leg to stabilize the chair during transport",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "transfer load to the floor",
+                "stabilize front right corner",
+                "maintain seating height"
+            ],
+            "semantic_description": "Straight narrow light wood leg with a matte smooth hard finish and subtle grain, extending vertically from the front right corner to the floor.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front seat rail",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front rail from below to lift the chair",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the front edge frame to pull the chair slightly forward",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "support the front of the seat",
+                "connect front legs",
+                "stiffen the frame",
+                "provide a front lifting edge"
+            ],
+            "semantic_description": "Horizontal light wood rail beneath the front seat edge with a matte smooth hard finish, narrow rectangular shape, and visible wood grain.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side seat rail",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side rail from the side to lift the chair",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the rail to steady the chair during movement",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "support the seat",
+                "connect left front and rear legs",
+                "stiffen the side frame",
+                "provide side lifting structure"
+            ],
+            "semantic_description": "Narrow horizontal light wood side rail with a matte smooth hard surface, running under the seat along the left side.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back seat rail",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the back rail from behind to lift the chair",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "hold the back frame while aligning the chair",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support the rear of the seat",
+                "connect the rear legs",
+                "stiffen the chair frame",
+                "brace the seat structure"
+            ],
+            "semantic_description": "Horizontal light wood back rail under the rear edge of the seat with a matte smooth hard finish and narrow rectangular profile, visible below the gap beneath the backrest.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side seat rail",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side rail from the side to lift the chair",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the rail to steady the chair during movement",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "support the seat",
+                "connect right front and rear legs",
+                "stiffen the side frame",
+                "provide side lifting structure"
+            ],
+            "semantic_description": "Narrow horizontal light wood side rail with a matte smooth hard surface, running under the seat along the right side.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/44dd41d5ce395d849c685a1d2070ac05/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d7afbd2022b1b9809f5a5d3a92e59605d9f2c0cc25533fb33f0e0a665d33181
+size 1368188