Add asset furniture/chair/4a4a3b28ff5153a78501a4e26ac4f2c3

.gitattributes

@@ -6909,3 +6909,4 @@ dataset/furniture/chair/2efc8403883253df82fe9ecf9649d1cd/affordance/mesh_part_se
 dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/44dd41d5ce395d849c685a1d2070ac05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/4a4a3b28ff5153a78501a4e26ac4f2c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/4a4a3b28ff5153a78501a4e26ac4f2c3/4a4a3b28ff5153a78501a4e26ac4f2c3.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/4a4a3b28ff5153a78501a4e26ac4f2c3/affordance/affordance_annot.json

@@ -0,0 +1,137 @@
+{
+    "affordances": [
+        {
+            "part_name": "base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pedestal base to reposition or drag the stool on the floor",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the base to stabilize the stool during inspection or assembly",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "support the stool on the floor",
+                "provide stability",
+                "distribute load",
+                "anchor the pedestal"
+            ],
+            "semantic_description": "Wide circular silver metal pedestal base with a smooth reflective finish, hard slick texture, and a large low profile at the bottom of the stool.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_39": {
+                    "confidence": 0.4698083698749542,
+                    "position": [
+                        0.1406254991889,
+                        -0.08009437844157219,
+                        0.03993238741531968
+                    ],
+                    "orientation": {
+                        "w": 0.6929607317340875,
+                        "xyz": [
+                            -0.22309364530189393,
+                            -0.655055940371005,
+                            -0.20232737008405247
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "seat",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat edge to lift or reposition the stool",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the seat to stabilize the stool while rotating or adjusting it",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "provide main contact surface",
+                "transfer user weight to pedestal",
+                "serve as top platform"
+            ],
+            "semantic_description": "Round black cushioned seat with a matte smooth surface and soft padded texture, medium-large and centered above the pedestal.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_41": {
+                    "confidence": 0.7991877794265747,
+                    "position": [
+                        0.14181386679410934,
+                        0.12377980723977089,
+                        0.021552993450313807
+                    ],
+                    "orientation": {
+                        "w": 0.6468913488052007,
+                        "xyz": [
+                            0.11433054997191457,
+                            -0.722819947029218,
+                            0.2144561315532531
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "backrest with armrests",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest or the backrest rim to pull or turn the stool",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the backrest to steady the stool during movement",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "support the back",
+                "support the arms",
+                "help retain the sitter",
+                "provide an upper gripping structure"
+            ],
+            "semantic_description": "Curved black upholstered backrest and integrated armrests with a matte finish, soft padded feel, and a wraparound shape rising behind and around the seat.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "height-adjustment mechanism",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the adjustment lever to actuate seat height control",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the central post area from below to stabilize the stool during maintenance or repositioning",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "adjust seat height",
+                "connect seat to base",
+                "support rotation around pedestal"
+            ],
+            "semantic_description": "Underside adjustment assembly below the seat, including a vertical central post and a small side lever, with hard smooth surfaces; the post appears light silver/white and the lever appears dark gray to black from most views.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/4a4a3b28ff5153a78501a4e26ac4f2c3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824621071f07991631cb11c847a382969c667cf3bf48553de5e2c051e2ae2998
+size 2207532