Add asset furniture/chair/c405d6395a7156dfa757ca79e10483e8

.gitattributes

@@ -6933,3 +6933,4 @@ dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/affordance/mesh_part_se
 dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/b6a47e233e8b580ea09e90d642c65529/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/c405d6395a7156dfa757ca79e10483e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/c405d6395a7156dfa757ca79e10483e8/affordance/affordance_annot.json

@@ -0,0 +1,128 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat and backrest body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat edge or backrest side to reposition the chair",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the backrest body to stabilize the chair during inspection or assembly",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "support the back",
+                "provide main chair body",
+                "distribute occupant load"
+            ],
+            "semantic_description": "Large light gray chair body including the seat and backrest, with smooth matte upholstered or molded-looking surfaces, rounded rectangular shape, and dominant central position above the base.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "armrests",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest to pull or pivot the chair slightly",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold an armrest to steady the chair while approaching with another tool",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "support forearms",
+                "provide side boundaries",
+                "assist sitting posture",
+                "offer secondary handhold"
+            ],
+            "semantic_description": "Two slim light gray armrests with hard smooth matte surfaces, straight narrow bar shapes mounted on each side of the seat and back assembly.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base with casters",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a base spoke to drag or reorient the chair on the floor",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the central base area to stabilize the chair while manipulating the seat",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "enable rolling",
+                "distribute load to floor",
+                "provide stability"
+            ],
+            "semantic_description": "Five-spoke base with small caster wheels, in dark gray to black metal and plastic with a hard smooth finish, positioned at the bottom under the seat.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top back handle bar",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top bar to pull the chair backward or reposition it",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "use the top bar as a secure handhold to steady the chair during transport",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "provide top handhold",
+                "help reposition the chair",
+                "connect the upper back edges",
+                "define the top opening of the backrest"
+            ],
+            "semantic_description": "Narrow light gray horizontal bar spanning the top of the backrest above a rectangular slot, with a hard smooth matte finish and elongated straight form.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "under-seat adjustment mechanism",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "nudge or manipulate the under-seat mechanism during maintenance or adjustment",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "access the mechanism area while inspecting chair controls",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "support seat adjustment hardware",
+                "connect controls under the seat",
+                "house part of the tilt or height adjustment mechanism",
+                "link seat to central support"
+            ],
+            "semantic_description": "Small dark component under the seat near the central column, appearing as part of the chair's under-seat control or support mechanism with a compact protruding form.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Cyan and navy parts are misidentified; cyan is back side rails, navy is seat edge trim, not handle bar/mechanism."
+    }
+}

dataset/furniture/chair/c405d6395a7156dfa757ca79e10483e8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eec17f626b26633848f17a05a9be3a4d8c9b79fa2e76ad149c03603914f823a
+size 1739684

dataset/furniture/chair/c405d6395a7156dfa757ca79e10483e8/c405d6395a7156dfa757ca79e10483e8.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>