Add asset furniture/chair/8ef7dc83766750919e80a41fbc812966

.gitattributes

@@ -6917,3 +6917,4 @@ dataset/furniture/chair/78b42bb137d45170aa4187f9f1c02394/affordance/mesh_part_se
 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/8ef7dc83766750919e80a41fbc812966/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/8ef7dc83766750919e80a41fbc812966/8ef7dc83766750919e80a41fbc812966.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/8ef7dc83766750919e80a41fbc812966/affordance/affordance_annot.json

@@ -0,0 +1,78 @@
+{
+    "affordances": [
+        {
+            "part_name": "upholstered seat",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat edges to lift or reposition the chair",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the seat surface to stabilize the chair during placement",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide a cushioned contact surface",
+                "serve as a central lifting area"
+            ],
+            "semantic_description": "Large rectangular beige cushioned seat at the top center of the chair, likely fabric upholstered with a matte finish and soft smooth texture over a padded form.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_12": {
+                    "confidence": 0.7351365089416504,
+                    "position": [
+                        -0.14170290157198906,
+                        -0.1251040401402861,
+                        -0.2353583127260208
+                    ],
+                    "orientation": {
+                        "w": 0.09911312988548977,
+                        "xyz": [
+                            0.0801205004390643,
+                            0.08524192166228384,
+                            0.9881756461707691
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "wooden frame",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the backrest frame to pull or rotate the chair",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp a side rail or upper frame member to carry the chair",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp a leg or lower frame to drag or reposition the chair slightly",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "support the seat",
+                "provide structural stability",
+                "form the backrest",
+                "elevate the chair from the floor",
+                "provide grasp points for moving"
+            ],
+            "semantic_description": "Medium-brown wooden frame with a smooth semi-gloss hard surface, including four legs, side rails, and a slatted backrest, forming the chair's rigid structure around and behind the seat.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/8ef7dc83766750919e80a41fbc812966/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8432315afea60af2ab8f3d3a0ec3d694138eb5e8c33f65b1c9af0ed252c67610
+size 1706244