Add asset furniture/chair/2548bbbca49c5cff9a77fa155fa9a9c8

.gitattributes

@@ -6904,4 +6904,4 @@ dataset/food/snack/fd036c379c7b5305b78e4a6b1784151f/affordance/mesh_part_seg.glb
 dataset/furniture/chair/05f5b92fac8b5d7bb215d3876ab2b361/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/10c87a4ce36a5b089a8b3cbf59a56e0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/168dc892fd225cf1bde437bebb61bc98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/2145cf454abf5e3ca93f46a41929a3b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/2548bbbca49c5cff9a77fa155fa9a9c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/2548bbbca49c5cff9a77fa155fa9a9c8/2548bbbca49c5cff9a77fa155fa9a9c8.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/2548bbbca49c5cff9a77fa155fa9a9c8/affordance/affordance_annot.json

@@ -0,0 +1,130 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat shell",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat shell from the sides to lift or reposition the stool",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the seat shell to stabilize the stool during inspection or assembly",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "main body contact surface",
+                "help reposition the stool"
+            ],
+            "semantic_description": "Large white molded seat shell with a smooth semi-gloss hard surface, shallow curved saddle shape with slightly upturned side edges, forming the upper sitting surface of the stool.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pedestal column",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the central column to lift and carry the stool",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the column to steady the stool while rotating or placing it",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support the seat",
+                "connect seat to base",
+                "transfer load to base",
+                "central structural support"
+            ],
+            "semantic_description": "Slim white cylindrical pedestal, likely painted metal, with a smooth slightly glossy hard finish, centered vertically between the seat and round base.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base plate",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base rim to drag or reposition the stool on the floor",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the base plate to stabilize the stool while adjusting or inspecting it",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "stabilize on the floor",
+                "distribute weight",
+                "prevent tipping",
+                "support the whole stool"
+            ],
+            "semantic_description": "Wide circular white base plate, likely metal, with a smooth glossy hard finish and broad low profile at the bottom of the stool for floor contact and stability.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat mounting plate",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hold the mounting plate area under the seat while stabilizing the stool during assembly or inspection",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "grasp the exposed edge of the plate from below to help reposition the stool",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "mount seat to column",
+                "connect upper seat shell to support",
+                "house or cover the seat attachment point",
+                "transfer load from seat to pedestal"
+            ],
+            "semantic_description": "Small white oblong mounting plate beneath the seat at the top of the pedestal, with a smooth hard surface and visible fastener holes/openings around the seat-column connection.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "swivel collar",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the upper joint",
+                "finish the seat-column interface",
+                "support seat movement"
+            ],
+            "semantic_description": "Small white ring-like collar with a smooth glossy hard finish around the top of the pedestal just under the seat, acting as a compact joint cover.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "surface scuff or scratch mark",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "visible surface blemish",
+                "non-functional visual mark"
+            ],
+            "semantic_description": "Very thin dark line-like mark visible near the seat underside or side in several views, appearing as a small scuff, scratch, or surface mark rather than a separate physical component.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Orange mark is not visible in several views; seat mounting plate description overstates visible holes/openings."
+    }
+}

dataset/furniture/chair/2548bbbca49c5cff9a77fa155fa9a9c8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0d6801211421610e0bfd44cdce5f4beaf4fd0d5aa4ff6d385bde2751e84518e
+size 1143072