Add asset furniture/chair/9635cc79def4539bb07519e13a01b7a0

.gitattributes

@@ -6921,3 +6921,4 @@ dataset/furniture/chair/8ef7dc83766750919e80a41fbc812966/affordance/mesh_part_se
 dataset/furniture/chair/8faec18bd3ab546f9d78097cdfba70c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/9342276a96af50c6b0dba3b4e2628bc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/95a3f4f55878542a9a6ed333d179c693/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/9635cc79def4539bb07519e13a01b7a0.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/9635cc79def4539bb07519e13a01b7a0/affordance/affordance_annot.json

@@ -0,0 +1,104 @@
+{
+    "affordances": [
+        {
+            "part_name": "backrest",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edge of the backrest to pull or reposition the chair",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold a side of the backrest to stabilize the chair during movement",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support the user's back",
+                "provide upper body comfort",
+                "serve as a pushing surface",
+                "help reposition the chair"
+            ],
+            "semantic_description": "Tall black-and-red padded backrest with a mostly matte synthetic leather or fabric finish, smooth slightly cushioned texture, racing-style contoured shape, and cutout openings near the top.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front or side edge of the seat to help drag or slightly reposition the chair",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "hold the seat side to stabilize the chair while adjusting it",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide seating comfort",
+                "form the main sitting surface"
+            ],
+            "semantic_description": "Broad mostly black cushioned seat with matte soft-looking upholstery, smooth padded texture, and a thick rounded rectangular form centered below the backrest.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chair support structure",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest to pull or steer the chair",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "grasp a lower base spoke near the center to reposition the chair when access to the seat or back is blocked",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "support the chair structure",
+                "rest the user's arms",
+                "provide rolling stability",
+                "connect the seat to the caster base"
+            ],
+            "semantic_description": "Black hard structural parts including the armrests, central support, and lower five-star base with casters, appearing as matte plastic or painted metal with smooth rigid surfaces around the sides and underside of the chair.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lumbar pillow",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lumbar pillow to adjust its position on the chair",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "pinch the pillow to inspect or remove it from its straps",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "provide lower-back support",
+                "improve sitting comfort",
+                "adjust back posture",
+                "cushion the lumbar area"
+            ],
+            "semantic_description": "Small black lumbar cushion with a soft padded build, matte smooth upholstery, compact rectangular shape, and placement across the lower backrest area.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Backrest description says black-and-red, but backrest mask covers mainly red shell; seat description misses red side bolsters; support structure combines unrelated parts/functions."
+    }
+}

dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a69b3f92cdbdcd40a6323cabae53e04b8e4169d28e70e6b429419dd26a5f1919
+size 1931868