Add asset furniture/chair/b2157cd26a9d5676a4fc7147a23684d2

.gitattributes

@@ -6930,4 +6930,4 @@ dataset/furniture/chair/abf4d4dbd52f5ccaa3611c94c5d06123/affordance/mesh_part_se
 dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/af973e06d70d5a08ad67cfa9fe61492c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/b134115a03ed50678ebbb555d7a2b356/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/affordance/affordance_annot.json

@@ -0,0 +1,93 @@
+{
+    "affordances": [
+        {
+            "part_name": "chair shell",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer shell to steady or reposition the chair",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "grasp the seat rim or side shell to pull the chair slightly",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support seated user",
+                "provide back support",
+                "enclose the seating area",
+                "main structural body"
+            ],
+            "semantic_description": "Large white molded plastic shell with a smooth matte hard surface, forming the seat and tall curved back around the upper body and occupying most of the chair.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide sitting comfort",
+                "distribute body pressure",
+                "soften the seat surface"
+            ],
+            "semantic_description": "Medium white upholstered seat pad with a soft smooth fabric-like finish, rounded rectangular shape, and front-centered placement inside the chair shell.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "star base with casters",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one base leg to drag or rotate the chair on the floor",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the central base area to stabilize the chair during adjustment",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "provide rolling mobility",
+                "stabilize against tipping",
+                "distribute load to the floor"
+            ],
+            "semantic_description": "Black metal or plastic five-spoke wheeled base with a hard smooth slightly glossy surface, extending beneath the chair as slender legs ending in small casters.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "adjustment lever and hub",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the height-adjustment lever to actuate it",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the under-seat hub to steady the chair while moving it slightly",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "adjust seat height",
+                "control chair mechanism",
+                "connect shell to base"
+            ],
+            "semantic_description": "Small black under-seat mechanism parts with a hard smooth finish, including a short protruding lever and central support element located beneath the seat near the base connection.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:603448a46f1a160dd7c862fd26b07fa7a3dfb6a900cc750a5aa9504de14bacd2
+size 1588828

dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/b2157cd26a9d5676a4fc7147a23684d2.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>