Add asset furniture/chair/7fe403bbf4d9554bb49bb01f69efa232

.gitattributes

@@ -6914,3 +6914,4 @@ dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/affordance/mesh_part_se
 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/78b42bb137d45170aa4187f9f1c02394/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/7fe403bbf4d9554bb49bb01f69efa232.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/7fe403bbf4d9554bb49bb01f69efa232/affordance/affordance_annot.json

@@ -0,0 +1,80 @@
+{
+    "affordances": [
+        {
+            "part_name": "chair shell",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim or outer side of the shell to stabilize and reposition the chair",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the side of the shell while rotating the chair during handling",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "support the seated user",
+                "form the backrest and armrests",
+                "enclose the seating area",
+                "provide the main chair body"
+            ],
+            "semantic_description": "Large rounded orange upholstered chair shell with a smooth matte fabric/leather-like surface and wraparound sides forming the backrest and integrated armrests around most of the chair.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the seat cushion area to steady the chair during handling",
+                    "confidence": 0.4
+                },
+                {
+                    "scenario": "press on the cushion surface to stabilize the chair while inspecting it",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "provide sitting surface",
+                "add seating comfort",
+                "distribute body weight",
+                "soften contact"
+            ],
+            "semantic_description": "Inset seat pad inside the chair, bright yellow in the image, with a smooth matte surface and a broad rounded shape across the central seating area.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chair legs",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one slender leg to pull or slightly reposition the chair",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold a leg while tilting one side of the chair during adjustment",
+                    "confidence": 0.53
+                }
+            ],
+            "functional_labels": [
+                "support the chair off the floor",
+                "stabilize the chair",
+                "transfer load to the ground",
+                "maintain chair height"
+            ],
+            "semantic_description": "Four slender dark gray metal legs with a smooth slightly reflective finish and small rounded feet, extending downward from the underside near the chair perimeter.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Seat cushion color/material description is wrong; actual chair appears uniformly orange, not bright yellow upholstery."
+    }
+}

dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbb2ed5c9ceba2fc8cd1d83dfecfc4eb81a8eb89037187c92168d10179ffc3ac
+size 548116