Add asset furniture/chair/434ed81864ea5776945d0223b873d78b

.gitattributes

@@ -6907,4 +6907,4 @@ dataset/furniture/chair/168dc892fd225cf1bde437bebb61bc98/affordance/mesh_part_se
 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/3c8316d2a50f52c39679add8cb14316e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/40902ede11e956eaacccf3f86e30b660/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/434ed81864ea5776945d0223b873d78b/434ed81864ea5776945d0223b873d78b.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/434ed81864ea5776945d0223b873d78b/affordance/affordance_annot.json

@@ -0,0 +1,119 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat and backrest body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the chair body at the front seat edge or side of the backrest to reposition the chair short distances",
+                    "confidence": 0.75
+                },
+                {
+                    "scenario": "hold the seat/backrest body to stabilize the chair while inspecting or adjusting it",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "support the back",
+                "provide padded contact surface",
+                "main upholstered body of the chair"
+            ],
+            "semantic_description": "Large red upholstered seat and backrest assembly with a matte cushioned surface, broad seat, tall backrest, and integrated headrest, forming most of the upper chair body.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right armrest",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the right armrest to pull or steer the chair slightly",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold the right armrest to stabilize the chair during repositioning",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "support the right arm",
+                "provide side boundary",
+                "assist seated comfort",
+                "offer a side hold point"
+            ],
+            "semantic_description": "Padded elongated armrest on the chair's right side, upholstered in red like the rest of the chair, with a soft matte surface and gently curved shape mounted beside the seat near the backrest.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left armrest",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the left armrest to pull or steer the chair slightly",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold the left armrest to stabilize the chair during repositioning",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "support the left arm",
+                "provide side boundary",
+                "assist seated comfort",
+                "offer a side hold point"
+            ],
+            "semantic_description": "Padded elongated armrest on the chair's left side, upholstered in red like the rest of the chair, with a soft matte surface and gently curved shape mounted beside the seat near the backrest.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underseat mechanism",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect seat to base",
+                "support tilt or height mechanism",
+                "transfer load to the base",
+                "enable chair adjustment"
+            ],
+            "semantic_description": "Compact underseat structural mechanism beneath the cushion, appearing gray to metallic or hard plastic, with a hard smooth finish and angular geometry.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "star base with casters",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a base spoke to drag or rotate the chair during repositioning",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the central base area to stabilize the chair while servicing the wheels",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "provide rolling mobility",
+                "stabilize on the floor",
+                "distribute load through legs and casters"
+            ],
+            "semantic_description": "Five-spoke rolling base at the bottom of the chair with small casters, appearing silver-gray with slender hard spokes radiating from a central hub.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a1ed21ced80e8370114f878d6b8be96fe5ecca908c390818d2199f360e6683b
+size 541668