Add asset furniture/chair/0c608106b4045f4da0c651c17d431f5e

.gitattributes

@@ -6902,3 +6902,4 @@ dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/affordance/mesh_part_seg.glb
 dataset/food/snack/e5a80020438059e78337721402427957/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/fd036c379c7b5305b78e4a6b1784151f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/05f5b92fac8b5d7bb215d3876ab2b361/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/0c608106b4045f4da0c651c17d431f5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/0c608106b4045f4da0c651c17d431f5e/0c608106b4045f4da0c651c17d431f5e.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.8965829610824585</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Functional parts are merged and mislabeled; seat, backrest, frame, and footrest are not cleanly separated.","merge_groups":[]}</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>4</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/0c608106b4045f4da0c651c17d431f5e/affordance/affordance_annot.json

@@ -0,0 +1,96 @@
+{
+    "affordances": [
+        {
+            "part_name": "main frame and legs",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper outer frame rail to lift or reposition the stool",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold a side leg or lower frame member to stabilize the stool during manipulation",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "support the stool",
+                "elevate the seat",
+                "provide structural rigidity",
+                "stabilize on the floor",
+                "connect the seat shell to the ground"
+            ],
+            "semantic_description": "Large black metal tubular frame with a matte to semi-gloss finish, forming the four legs, upper perimeter rails, and main structural supports around the lower and outer areas.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "padded seat and back cushion",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the padded cushion to steady the stool during repositioning",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "pinch a side edge of the cushion to pull the stool slightly",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "provide padding",
+                "improve comfort",
+                "support the back and torso",
+                "distribute body weight"
+            ],
+            "semantic_description": "Thick orange upholstered padded cushion with a soft tufted surface and stitched segmented channels, covering the seat and inner backrest area.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "footrest bar",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower crossbar to drag or tilt the stool for relocation",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the footrest bar to stabilize the stool while another gripper manipulates the upper body",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support feet",
+                "brace the frame",
+                "provide a lower carrying point",
+                "help stabilize posture while seated"
+            ],
+            "semantic_description": "Narrow black metal horizontal crossbar with a smooth finish, mounted low between the legs as a foot support and brace.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative side/back frame cutouts",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative openwork styling",
+                "lightly brace the upper side and back frame",
+                "partially contain the cushion within the upper shell"
+            ],
+            "semantic_description": "Small black open lattice-like frame sections within the upper side and back rails, visible as narrow curved cutout inserts around the orange cushion near the top perimeter.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Seat/back part identity and description mismatch; mask separates shell from cushion and back cushion is absent."
+    }
+}

dataset/furniture/chair/0c608106b4045f4da0c651c17d431f5e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00c6de3f8306e92674d6b590a5a0c407d546a41989e7d92221f35fbf28e8fa8e
+size 1720500