Add asset furniture/chair/b37ffd01532957e5b4c71e16dbffa20f

.gitattributes

@@ -6931,3 +6931,4 @@ dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/affordance/mesh_part_se
 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/b2157cd26a9d5676a4fc7147a23684d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/b37ffd01532957e5b4c71e16dbffa20f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/b37ffd01532957e5b4c71e16dbffa20f/affordance/affordance_annot.json

@@ -0,0 +1,67 @@
+{
+    "affordances": [
+        {
+            "part_name": "chair shell",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side rim or arm area to pull or reposition the chair",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the upper backrest to steady the chair during placement",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the outer shell while tilting the chair for transport",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "support the sitter's back",
+                "support the sitter's arms",
+                "form the main seat enclosure",
+                "provide structural body",
+                "protect and stabilize seated posture"
+            ],
+            "semantic_description": "Large mustard-yellow upholstered shell with a matte fabric surface, subtle fine ribbed texture, and smoothly curved back, sides, and arm contours forming most of the chair body.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat base, underside panel, and legs",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp under the front seat base to help lift or reposition the chair",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold one leg near its upper section to stabilize the chair during repositioning",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "grasp the underside base panel when tilting the chair for transport",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "form the lower seat support structure",
+                "close off and reinforce the underside",
+                "elevate the chair above the floor",
+                "transfer load to the ground",
+                "contribute to overall stability"
+            ],
+            "semantic_description": "Blue-masked region includes the mustard-yellow seat sitting area plus a dark brown or black underside base panel and four slim black legs; the seat surface appears upholstered and matte, while the panel and legs look smooth and rigid.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue part identity and description are wrong; seat cushion is included, not underside panel and legs only."
+    }
+}

dataset/furniture/chair/b37ffd01532957e5b4c71e16dbffa20f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcf60549e99ddc9aab33a2feebc67e92f8b54be4ed4f5deb41b34100cb289ca4
+size 2167880

dataset/furniture/chair/b37ffd01532957e5b4c71e16dbffa20f/b37ffd01532957e5b4c71e16dbffa20f.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>