Add asset furniture/chair/83d7618902f8503ca48746637668f8d1

.gitattributes

@@ -6915,3 +6915,4 @@ dataset/furniture/chair/5bb616d7e26055da874d9eed2a9f9cb2/affordance/mesh_part_se
 dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/78b42bb137d45170aa4187f9f1c02394/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/83d7618902f8503ca48746637668f8d1.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.946036458015442</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Seat and armrests are split across colors, and wheels/base are over-segmented.","merge_groups":[{"colors":["Gray","Teal"],"target_part":"seat and armrests assembly","reason":"same upper support surfaces split inconsistently"},{"colors":["Blue","Teal"],"target_part":"backrest with side supports","reason":"teal side strips belong to back side structure"},{"colors":["Magenta","Jade"],"target_part":"chair base with casters","reason":"wheels and star base function together"}]}</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>

dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/affordance/affordance_annot.json

@@ -0,0 +1,139 @@
+{
+    "affordances": [
+        {
+            "part_name": "backrest",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edge of the backrest to pull or reposition the chair",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the side of the backrest to stabilize the chair while rotating it",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "support the user's back",
+                "provide upper-body posture support",
+                "serve as a push or pull point",
+                "define the rear of the chair"
+            ],
+            "semantic_description": "Large tall backrest with orange-brown upholstered front padding and a white rear shell visible from the back, smooth surface, rounded rectangular shape, positioned at the rear of the chair.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the seat to lift or drag the chair slightly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the seat underside to stabilize the chair during maintenance or adjustment",
+                    "confidence": 0.65
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide lower-body cushioning",
+                "connect the user seating area to the base"
+            ],
+            "semantic_description": "Broad cushioned seat with an orange-brown upholstered top and a light gray underside, smooth padded surface, gently curved rectangular form, centered above the wheeled base.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "armrests",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest to pull the chair sideways",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold an armrest to steady the chair while rotating or aligning it",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support forearms",
+                "provide side support",
+                "assist repositioning",
+                "connect to the chair sides near the seat/back"
+            ],
+            "semantic_description": "Pair of medium-sized armrests with dark brown padded tops and darker support structures, smooth surfaces, gently curved shape, mounted along both sides of the seat.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "star base",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a base spoke to tilt or reposition the chair during transport",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold the central base area while assembling or inspecting the chair",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "distribute load to casters",
+                "provide stability",
+                "connect casters around the center"
+            ],
+            "semantic_description": "Five-spoke metallic base with a silver finish and smooth hard surface, located at the bottom center beneath the seat.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "caster wheels",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a caster wheel or fork during maintenance or while lifting and orienting the chair base",
+                    "confidence": 0.32
+                }
+            ],
+            "functional_labels": [
+                "enable rolling",
+                "reduce friction during movement",
+                "support contact with the floor",
+                "provide mobility"
+            ],
+            "semantic_description": "Small dark gray to black caster assemblies with rounded wheels, hard smooth surfaces, attached at the ends of the base spokes for floor contact.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat mechanism",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect seat to base",
+                "enable height or tilt adjustment",
+                "support seat movement",
+                "house control linkage"
+            ],
+            "semantic_description": "Compact under-seat mechanism in the center between the seat and base, appearing dark gray with some lighter metallic parts, hard rigid construction, and an angular mechanical shape.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions mismatch visible colors/materials; armrests and backrest descriptions are incorrect."
+    }
+}

dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0384adf59a7d23b4d1f087587ebe64cf79f76e61375936918783c79b0b82f222
+size 1971344