Add asset furniture/chair/e862f230230a58dfad3b571d3c90ef31

.gitattributes

@@ -6936,3 +6936,4 @@ dataset/furniture/chair/b6a47e233e8b580ea09e90d642c65529/affordance/mesh_part_se
 dataset/furniture/chair/c405d6395a7156dfa757ca79e10483e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/cc65ec7b857a5feea4515cc2af54e926/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/e0206c565df6515dbf5ce946e39d9aca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/affordance/affordance_annot.json

@@ -0,0 +1,128 @@
+{
+    "affordances": [
+        {
+            "part_name": "chair base with casters",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one spoke of the base to drag or reposition the chair on the floor",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the base near a spoke to stabilize the chair during maintenance or inspection",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "enable rolling movement",
+                "provide floor contact",
+                "stabilize the overall structure"
+            ],
+            "semantic_description": "Five-spoke black base with small caster wheels, likely hard plastic or painted metal, with a mostly matte smooth finish and located at the bottom of the chair.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "armrests",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest to pull or pivot the chair slightly",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold an armrest to stabilize the chair while another gripper adjusts position",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "support forearms",
+                "provide side restraint",
+                "assist seated comfort",
+                "offer a side handling point"
+            ],
+            "semantic_description": "Pair of dark gray to black armrests with hard smooth surfaces and angular frames, medium-sized and mounted on both sides of the seat.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front or side edge of the seat to push or reposition the chair",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the seat cushion edge to steady the chair during assembly or adjustment",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide cushioning",
+                "form the main seating surface"
+            ],
+            "semantic_description": "Rounded blue upholstered seat cushion with a soft fabric-like matte finish, smooth padded texture, and a medium-large size below the backrest.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "backrest frame",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top of the backrest frame to roll or steer the chair",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the backrest frame to pull the chair away from a desk",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the backrest structure",
+                "provide upper structure",
+                "serve as a handling point",
+                "connect backrest components"
+            ],
+            "semantic_description": "Tall blue outer backrest frame with a hard smooth slightly matte finish, curving upward behind the seat and surrounding the inner back panel.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "backrest panel",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press or hold the center of the backrest panel to steady the chair while repositioning it",
+                    "confidence": 0.45
+                },
+                {
+                    "scenario": "grasp the upper cutout edge of the backrest panel to help pull the chair slightly",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "support the user's back",
+                "provide back contact surface",
+                "distribute back pressure",
+                "improve sitting comfort"
+            ],
+            "semantic_description": "Dark inner backrest panel set within the blue frame, appearing as a broad upright insert with a darker matte surface behind the seat.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions use wrong visible colors; backrest frame/panel identity and appearance are mismatched."
+    }
+}

dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4acc29eb6a06aecc741dfd6e0e47bb3b9eeb58f27237a5e627a7765760abc06
+size 531812

dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/e862f230230a58dfad3b571d3c90ef31.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>