Add asset furniture/chair/40902ede11e956eaacccf3f86e30b660

.gitattributes

@@ -6907,3 +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/40902ede11e956eaacccf3f86e30b660/affordance/affordance_annot.json

@@ -0,0 +1,200 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat shell with backrest",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side edges of the upholstered seat shell to lift or reposition the stool",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the backrest area to steady the stool during placement",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "support sitting posture",
+                "provide back support",
+                "form seat sides",
+                "main upper structure"
+            ],
+            "semantic_description": "Large orange upholstered shell forming the side panels and backrest around the seat, with a smooth matte padded surface and a curved, slightly boxy shape at the top of the stool.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support sitting",
+                "provide comfort",
+                "distribute body weight"
+            ],
+            "semantic_description": "Orange padded seat cushion with a smooth matte upholstered finish, soft texture, and rectangular shape inset within the surrounding seat shell.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pedestal column",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the central post to lift or reposition the stool",
+                    "confidence": 0.75
+                },
+                {
+                    "scenario": "hold the post to stabilize the stool while rotating it",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "support upper seat",
+                "connect seat to base",
+                "transmit load",
+                "serve as central support column"
+            ],
+            "semantic_description": "Dark gray cylindrical central post with a smooth semi-gloss finish and hard surface, running vertically from the base center to the underside of the seat.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base disc",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the edge of the round base to drag or reposition the stool",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the base to stabilize the stool during handling",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "stabilize stool",
+                "support weight on floor",
+                "prevent tipping",
+                "provide ground contact"
+            ],
+            "semantic_description": "Large round dark gray base with a smooth slightly reflective finish, broad low-profile disc shape, and hard surface at the bottom of the stool.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.6600081920623779,
+                    "position": [
+                        0.1721760258078575,
+                        -0.1494422999676317,
+                        -0.1958932913839817
+                    ],
+                    "orientation": {
+                        "w": 0.23840089050527585,
+                        "xyz": [
+                            -0.6721985268359235,
+                            0.26279726882636667,
+                            0.649809011497462
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "footrest ring",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the circular footrest ring to pull or rotate the stool",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the ring to steady the stool during transport",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support feet",
+                "provide leg rest",
+                "assist repositioning",
+                "brace lower structure"
+            ],
+            "semantic_description": "Dark gray circular metal ring with a smooth semi-gloss finish and rounded tubular shape encircling the lower pedestal above the base.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat underside mount",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect seat to pedestal",
+                "reinforce underside",
+                "house mounting interface"
+            ],
+            "semantic_description": "Small dark gray mounting block beneath the seat, with a compact rectangular form at the junction between the seat underside and the central post.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "column collar",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover joint",
+                "connect lower pedestal components",
+                "protect mechanism area"
+            ],
+            "semantic_description": "Small dark gray collar-like piece around the lower central post above the base, with a compact cylindrical form.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "footrest support spoke",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace footrest ring",
+                "connect ring to center",
+                "add structural support"
+            ],
+            "semantic_description": "Thin dark gray support spoke with a smooth hard appearance, linking the footrest ring toward the central assembly as a narrow angled structural brace.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "adjustment lever",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small lever under the seat to actuate seat height adjustment",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "lightly grasp the lever while inspecting or manipulating the mechanism area",
+                    "confidence": 0.33
+                }
+            ],
+            "functional_labels": [
+                "adjust seat height",
+                "actuate mechanism",
+                "control stool configuration"
+            ],
+            "semantic_description": "Small dark gray lever under the seat near the mounting area, with a short slender form protruding from the underside mechanism.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "One part is mislabeled and some graspability labels are unrealistic for usable robotic grasp points."
+    }
+}

dataset/furniture/chair/40902ede11e956eaacccf3f86e30b660/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eccd4348bb3c739d04c1577d8d00fcf3f706fb0cf6b6bec8342ae2b520a725b
+size 1342084