Add asset furniture/chair/5bb616d7e26055da874d9eed2a9f9cb2

.gitattributes

@@ -6911,3 +6911,4 @@ dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/affordance/mesh_part_se
 dataset/furniture/chair/44dd41d5ce395d849c685a1d2070ac05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/4b026bec19645958acf827e57af54693/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/5bb616d7e26055da874d9eed2a9f9cb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/5bb616d7e26055da874d9eed2a9f9cb2/5bb616d7e26055da874d9eed2a9f9cb2.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/5bb616d7e26055da874d9eed2a9f9cb2/affordance/affordance_annot.json

@@ -0,0 +1,66 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat and backrest shell",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the chair body at the seat edge to lift or reposition the chair",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp the upper backrest to pull the chair away from a table",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the chair shell to stabilize it while another gripper engages the legs",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "support the back",
+                "provide the main body structure",
+                "distribute seated load",
+                "offer broad contact surfaces"
+            ],
+            "semantic_description": "Large one-piece light tan woven or mesh-like shell with a matte hard surface, smooth rounded edges, fine grid texture, and a gently curved seat and upright back at the chair center.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chair legs and lower frame",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side leg or lower frame rail to drag or reposition the chair slightly",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the front leg area to lift one side of the chair",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the lower frame to stabilize the chair during placement",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "elevate the seat",
+                "provide ground contact",
+                "stabilize the structure",
+                "bear vertical load"
+            ],
+            "semantic_description": "Slim light tan tubular frame and legs with a matte hard finish, smooth texture, and gently tapered curved members running along the chair perimeter and down to the floor.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/5bb616d7e26055da874d9eed2a9f9cb2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faaf9b8e7481ae8017814112fa51f7b5c42765f6fd5b6cbb237efe631701c6d8
+size 630340