Add asset furniture/chair/eaa4224cad1a51ca9b82063642e27343

.gitattributes

@@ -6938,3 +6938,4 @@ dataset/furniture/chair/cc65ec7b857a5feea4515cc2af54e926/affordance/mesh_part_se
 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/eaa4224cad1a51ca9b82063642e27343/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/eaa4224cad1a51ca9b82063642e27343/affordance/affordance_annot.json

@@ -0,0 +1,169 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat and back cushions",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat edge to reposition or rotate the chair slightly",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the backrest side to steady the chair during movement",
+                    "confidence": 0.59
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "support the back",
+                "provide the main contact surface",
+                "add padding and comfort"
+            ],
+            "semantic_description": "Large blue upholstered cushions with a matte fabric-like finish and soft smooth texture, forming the seat and tall backrest over most of the chair's upper body.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "armrests",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest to pull or steer the chair",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold both armrests to stabilize the chair while repositioning it",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "support forearms",
+                "provide side boundaries",
+                "assist sitting down and standing up",
+                "offer a convenient pull point"
+            ],
+            "semantic_description": "Pair of dark gray to black rigid armrests with smooth slightly glossy surfaces, medium-sized and mounted on both sides of the seat.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chair frame and support brackets",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side support frame to lift or tilt the chair during handling",
+                    "confidence": 0.54
+                },
+                {
+                    "scenario": "hold the lower bracket to stabilize the chair for inspection or repair",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "connect structural parts",
+                "support seat and back",
+                "transfer loads to the base",
+                "enable reclining geometry"
+            ],
+            "semantic_description": "Dark gray to black metal structural members with a semi-gloss hard finish, angular and medium-thick, running under the seat and along the sides and rear.",
+            "id": 20,
+            "grasp_group": {
+                "grasp_49": {
+                    "confidence": 0.5449841618537903,
+                    "position": [
+                        -0.05918204295448959,
+                        -0.02062058076262474,
+                        -0.3355606831610203
+                    ],
+                    "orientation": {
+                        "w": 0.9584250690667563,
+                        "xyz": [
+                            0.06376424579172596,
+                            0.007474994061742679,
+                            -0.2780281144178994
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "caster wheels",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hold a caster wheel during maintenance or inspection",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "grasp a wheel lightly to stabilize the chair while examining the base",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "roll on the floor",
+                "enable repositioning",
+                "support the chair base",
+                "reduce friction while moving"
+            ],
+            "semantic_description": "Small dark caster wheels with hard smooth surfaces, mounted at the ends of the star base legs near the floor.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "five-star base legs",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a base leg to drag or rotate the chair on the floor",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "hold the base while aligning the chair position",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support overall weight",
+                "stabilize the chair",
+                "spread load across the floor",
+                "mount the caster wheels"
+            ],
+            "semantic_description": "Five dark metal legs with a smooth semi-gloss finish radiating from the central column, low to the ground and ending at the casters.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat adjustment lever",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lever to actuate a seat height or tilt adjustment",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "grasp the lever to inspect or manipulate the control mechanism",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "adjust seat settings",
+                "control height or tilt",
+                "actuate the chair mechanism",
+                "provide a manual control point"
+            ],
+            "semantic_description": "Small dark control lever with a hard smooth finish, protruding from beneath the seat near one side of the mechanism.",
+            "id": 22,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Base legs mask color and description are incorrect; white mask marks armrests and base, not only legs."
+    }
+}

dataset/furniture/chair/eaa4224cad1a51ca9b82063642e27343/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3402a0414877e12262db254b7f4e1f36d00fb3584a261a0c398f849dd05d2850
+size 576584

dataset/furniture/chair/eaa4224cad1a51ca9b82063642e27343/eaa4224cad1a51ca9b82063642e27343.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>5.224905014038086</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Backrest and seat are merged; base/underside colors are inconsistent fragments.","merge_groups":[{"colors":["Blue","Orange","White"],"target_part":"caster base and wheels","reason":"all are repeated base/wheel elements split by view/fragments"},{"colors":["Violet","Deep Sky Blue"],"target_part":"seat support/underside mechanism","reason":"both cover central support and underside hardware"}]}</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>6</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>