Add asset furniture/chair/af973e06d70d5a08ad67cfa9fe61492c

.gitattributes

@@ -6928,3 +6928,4 @@ dataset/furniture/chair/a426a51f50ac5358afe018a568c01d24/affordance/mesh_part_se
 dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/abf4d4dbd52f5ccaa3611c94c5d06123/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/af973e06d70d5a08ad67cfa9fe61492c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/af973e06d70d5a08ad67cfa9fe61492c/af973e06d70d5a08ad67cfa9fe61492c.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/af973e06d70d5a08ad67cfa9fe61492c/affordance/affordance_annot.json

@@ -0,0 +1,66 @@
+{
+    "affordances": [
+        {
+            "part_name": "upholstered seat shell",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the chair body at the side of the shell to reposition the lounge chair",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the upper backrest area to pull or rotate the chair",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "stabilize the chair by clamping the seat edge during maintenance or cleaning",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support seated body weight",
+                "provide back support",
+                "provide side support",
+                "main contact surface",
+                "distribute comfort load"
+            ],
+            "semantic_description": "Large one-piece red upholstered shell with a matte fabric-like finish, soft smooth texture, curved bucket shape, and integrated seat and high back forming most of the chair body.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chair frame and legs",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a metal side rail or leg to drag or reposition the chair",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the frame to stabilize the chair while another gripper manipulates the seat",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "lift one side of the chair by the frame during transport",
+                    "confidence": 0.51
+                }
+            ],
+            "functional_labels": [
+                "support chair off the floor",
+                "stabilize structure",
+                "connect shell to ground",
+                "bear load",
+                "provide contact points with floor"
+            ],
+            "semantic_description": "Thin dark gray metal rod frame with a smooth slightly reflective finish, hard surface, and slender angled legs and side supports located beneath and around the lower sides of the seat shell.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/af973e06d70d5a08ad67cfa9fe61492c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfcb6b8f0ae7764966ee2dc0c5164f6ea374b3d8bfc3e7fb7ca327cd99ca174c
+size 2139540