Add asset furniture/chair/91d016c6b5f45660bb69e9b86c23c3a2

.gitattributes

@@ -6919,3 +6919,4 @@ dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/affordance/mesh_part_se
 dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/8ef7dc83766750919e80a41fbc812966/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/8faec18bd3ab546f9d78097cdfba70c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/91d016c6b5f45660bb69e9b86c23c3a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/91d016c6b5f45660bb69e9b86c23c3a2/91d016c6b5f45660bb69e9b86c23c3a2.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.815963506698608</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Different functional parts are merged: seat, headrest, armrests, base and frame share Violet.","merge_groups":[]}</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>2</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/91d016c6b5f45660bb69e9b86c23c3a2/affordance/affordance_annot.json

@@ -0,0 +1,62 @@
+{
+    "affordances": [
+        {
+            "part_name": "backrest panel",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper side edge of the backrest to pull or reposition the chair",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the backrest to stabilize the chair while another manipulator adjusts or moves it",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support the user's back",
+                "provide leaning surface",
+                "help maintain seated posture",
+                "serve as a push or pull surface for repositioning"
+            ],
+            "semantic_description": "Large rectangular light gray back panel with a matte mesh or fabric appearance and taut surface, mounted upright behind the seat as the main back-support surface.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat, headrest, armrests, and wheeled base assembly",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest or side frame member to pull or rotate the chair",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "grasp beneath the seat edge or central support area to reposition the chair slightly",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the headrest as a secondary stabilizing grasp during transport",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "provide a surface for sitting",
+                "provide arm support",
+                "support the head",
+                "support and connect the chair structure",
+                "enable rolling mobility",
+                "stabilize the chair on the floor"
+            ],
+            "semantic_description": "Dark gray to black chair components including the padded seat, small headrest cushion, armrests, lower support structure, and five-star wheeled base, with mostly matte smooth plastic, fabric, or metal surfaces.",
+            "id": 20,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Second part merges many distinct components into one mask; part name and functions are too broad and not specific to the segmented region."
+    }
+}

dataset/furniture/chair/91d016c6b5f45660bb69e9b86c23c3a2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83b780224ed9a981dbbb8b3ac4b6ac512b25a105001b819e123209d7df25d5d4
+size 471008