Add asset furniture/chair/6fdbc06a65b85145add05b8eeb37e22c

.gitattributes

@@ -6913,3 +6913,4 @@ dataset/furniture/chair/4b026bec19645958acf827e57af54693/affordance/mesh_part_se
 dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/5bb616d7e26055da874d9eed2a9f9cb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/6fdbc06a65b85145add05b8eeb37e22c.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/6fdbc06a65b85145add05b8eeb37e22c/affordance/affordance_annot.json

@@ -0,0 +1,127 @@
+{
+    "affordances": [
+        {
+            "part_name": "backrest frame and armrests",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest to pull or reposition the chair",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the top or side of the backrest frame to steady the chair during movement",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "lift or pivot the chair using the rigid backrest side frame/armrest structure",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "support the user's back",
+                "provide arm support",
+                "form the main upper chair structure",
+                "provide a handhold for repositioning"
+            ],
+            "semantic_description": "Large upper chair structure including the blue mesh/fabric backrest and its light gray side frame with black curved armrests; surfaces appear smooth with a mix of textile mesh and hard plastic or painted metal, located above and around the seat.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front edge of the seat to pull the chair slightly",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "press on the seat to stabilize the chair during adjustment or inspection",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide comfort",
+                "contact surface for the user"
+            ],
+            "semantic_description": "Medium-sized blue upholstered seat cushion with a soft smooth fabric-like surface, rounded rectangular shape, and padded form at the center of the chair.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base with casters",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a base spoke to drag or reposition the chair",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the central base while stabilizing the chair during maintenance",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "grasp near a caster mount to pivot the chair orientation",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "enable rolling",
+                "provide stability",
+                "distribute load to the floor"
+            ],
+            "semantic_description": "Five-spoke dark gray to black base with small casters, made of hard plastic or metal with a smooth slightly matte finish, extending low beneath the seat.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tilt and height mechanism",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect seat to base",
+                "enable swiveling",
+                "support tilt mechanism",
+                "house height adjustment linkage"
+            ],
+            "semantic_description": "Compact dark mechanical hub under the seat, likely metal or hard plastic, with a hard smooth finish and dense clustered form at the chair's center underside.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "adjustment lever",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp or pinch the lever to actuate seat height or tilt adjustment",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the lever while stabilizing the mechanism during inspection",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "adjust seat settings",
+                "trigger height change",
+                "control tilt lock",
+                "provide manual actuation"
+            ],
+            "semantic_description": "Small narrow dark lever beneath the seat, likely plastic or metal with a smooth hard finish, protruding from the underside near the central mechanism.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask/color-part mismatch and visual descriptions are inaccurate for several parts, especially yellow back/armrest group and seat/back material-color details."
+    }
+}

dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b4cdadf438052eaf443b01434095f8820d9f5e58dc503fa3d52480c70783f47
+size 578224