Add asset furniture/chair/852d5b46e381566696eb4349ecee9668

.gitattributes

@@ -6916,3 +6916,4 @@ dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/affordance/mesh_part_se
 dataset/furniture/chair/78b42bb137d45170aa4187f9f1c02394/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/852d5b46e381566696eb4349ecee9668.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/852d5b46e381566696eb4349ecee9668/affordance/affordance_annot.json

@@ -0,0 +1,92 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat and backrest",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat edge to pull or reposition the chair",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the backrest side to steady the chair during movement",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the chair body to lift part of it during placement",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "support the back",
+                "provide the main chair body",
+                "distribute user weight"
+            ],
+            "semantic_description": "Large cushioned blue upholstered seat and backrest with a smooth slightly matte fabric or vinyl-like finish, soft padded texture, rounded rectangular shape, and dominant central position on the chair.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "armrests",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest to pull the chair closer to a desk",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold an armrest to stabilize the chair while rotating or aligning it",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "use an armrest as a secondary grip while lifting or tilting the chair",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support the arms",
+                "provide side boundaries",
+                "assist chair repositioning",
+                "improve seated comfort"
+            ],
+            "semantic_description": "Pair of medium-sized blue-and-silver armrests with padded blue top pads and hard smooth supports, gently curved and mounted on both sides of the seat.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "star base with casters",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a base leg to drag or rotate the chair on the floor",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the central base area to stabilize the chair during transport",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "grasp near a caster assembly to tilt and roll the chair",
+                    "confidence": 0.47
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "enable rolling",
+                "provide stability",
+                "distribute load to the floor"
+            ],
+            "semantic_description": "Five-spoke metallic silver base with small hard smooth casters, reflective finish, star-shaped layout beneath the seat, and a rigid low-positioned support structure.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54f9ab558155eb0f89575b8af70e303368658182ef3a401fe12ed869875f9c20
+size 2029764