Add asset furniture/chair/e9a279d82e6c50219e06e457fc224129

.gitattributes

@@ -6937,3 +6937,4 @@ dataset/furniture/chair/c405d6395a7156dfa757ca79e10483e8/affordance/mesh_part_se
 dataset/furniture/chair/cc65ec7b857a5feea4515cc2af54e926/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/e0206c565df6515dbf5ce946e39d9aca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/e9a279d82e6c50219e06e457fc224129/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/e9a279d82e6c50219e06e457fc224129/affordance/affordance_annot.json

@@ -0,0 +1,304 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat edges to lift and reposition the chair",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the seat to stabilize the chair during inspection or pushing",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute seated load",
+                "provide main upper platform",
+                "serve as a lifting surface"
+            ],
+            "semantic_description": "Broad medium-brown wooden seat with a matte to satin finish, hard smooth surface, and a slightly curved rectangular shape centered above the legs.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "backrest top rail",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rail to pull out or reposition the chair",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the top rail to tilt and carry the chair",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "support the upper back",
+                "connect backrest sides",
+                "provide a pulling point",
+                "stiffen the backrest"
+            ],
+            "semantic_description": "Curved medium-brown wooden top rail with a satin finish and smooth hard texture, spanning the top of the backrest as a narrow arched bar.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left rear leg and back post",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear post to drag or rotate the chair",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the post to stabilize the chair while moving it",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "support rear corner",
+                "raise the seat",
+                "form backrest side frame",
+                "transfer load to floor"
+            ],
+            "semantic_description": "Tall slightly curved medium-brown wooden post with a smooth satin surface, running from the floor up past the seat to form one side of the backrest.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right rear leg and back post",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear post to drag or rotate the chair",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the post to stabilize the chair while moving it",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "support rear corner",
+                "raise the seat",
+                "form backrest side frame",
+                "transfer load to floor"
+            ],
+            "semantic_description": "Tall slightly curved medium-brown wooden post with a smooth satin surface, running from the floor up past the seat to form one side of the backrest.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left front leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front leg to pull the chair slightly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the leg to stabilize the chair during manipulation",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support front corner",
+                "transfer load to floor",
+                "stabilize the chair"
+            ],
+            "semantic_description": "Straight medium-brown wooden front leg with a smooth satin finish and hard surface, slender and positioned at the front corner under the seat.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right front leg",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front leg to pull the chair slightly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the leg to stabilize the chair during manipulation",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support front corner",
+                "transfer load to floor",
+                "stabilize the chair"
+            ],
+            "semantic_description": "Straight medium-brown wooden front leg with a smooth satin finish and hard surface, slender and positioned at the front corner under the seat.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front stretcher",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace the front legs",
+                "stiffen the frame",
+                "help resist racking"
+            ],
+            "semantic_description": "Narrow medium-brown wooden crossbar with a smooth satin finish, mounted low between the front legs beneath the seat.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side stretcher",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace the side frame",
+                "stiffen the chair base",
+                "help resist twisting"
+            ],
+            "semantic_description": "Slim medium-brown wooden side rail with a smooth satin surface, running beneath the seat between front and rear legs on one side.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side stretcher",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace the side frame",
+                "stiffen the chair base",
+                "help resist twisting"
+            ],
+            "semantic_description": "Slim medium-brown wooden side rail with a smooth satin surface, running beneath the seat between front and rear legs on one side.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear apron",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect seat supports",
+                "stiffen the seat frame",
+                "support the seat from below"
+            ],
+            "semantic_description": "Short medium-brown wooden rail with a smooth satin finish, located under the back edge of the seat and joining the rear posts.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front apron",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the front of the seat",
+                "connect front structure",
+                "stiffen the seat frame"
+            ],
+            "semantic_description": "Horizontal medium-brown wooden rail with a smooth satin finish, mounted just below the front edge of the seat between the front legs.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side apron",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the seat side",
+                "connect seat structure",
+                "stiffen the frame"
+            ],
+            "semantic_description": "Narrow medium-brown wooden side rail with a smooth satin surface, attached directly under the seat edge between front and rear supports on one side.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side apron",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the seat side",
+                "connect seat structure",
+                "stiffen the frame"
+            ],
+            "semantic_description": "Narrow medium-brown wooden side rail with a smooth satin surface, attached directly under the seat edge between front and rear supports on one side.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left backrest slat",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the back",
+                "fill the backrest",
+                "stiffen the back frame"
+            ],
+            "semantic_description": "Thin vertical medium-brown wooden slat with a smooth satin finish, extending between the seat-back junction and the top rail on the left side of the backrest.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center backrest slat",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the back",
+                "fill the backrest",
+                "stiffen the back frame"
+            ],
+            "semantic_description": "Thin vertical medium-brown wooden slat with a smooth satin finish, centered in the backrest between the seat-back junction and the top rail.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right backrest slat",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the back",
+                "fill the backrest",
+                "stiffen the back frame"
+            ],
+            "semantic_description": "Thin vertical medium-brown wooden slat with a smooth satin finish, extending between the seat-back junction and the top rail on the right side of the backrest.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "backrest lower rail",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the backrest slats",
+                "connect the back posts",
+                "stiffen the lower backrest"
+            ],
+            "semantic_description": "Horizontal medium-brown wooden rail with a smooth satin finish, located just above the seat and joining the backrest slats to the side posts.",
+            "id": 16,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/e9a279d82e6c50219e06e457fc224129/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1f3b804777cf983cf86f81d8b07e9adf67ee6a59a61b1b8db8f4d1452b5f595
+size 1624104

dataset/furniture/chair/e9a279d82e6c50219e06e457fc224129/e9a279d82e6c50219e06e457fc224129.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>