Add asset furniture/chair/b134115a03ed50678ebbb555d7a2b356

.gitattributes

@@ -6930,3 +6930,4 @@ dataset/furniture/chair/abf4d4dbd52f5ccaa3611c94c5d06123/affordance/mesh_part_se
 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/afe23b0ac0725274b6c6cb4884208067/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/b134115a03ed50678ebbb555d7a2b356/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/b134115a03ed50678ebbb555d7a2b356/affordance/affordance_annot.json

@@ -0,0 +1,84 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat base",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front or side edge of the seat base to drag or reposition the lounge chair",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "lift one end of the chair by clamping the seat base edge or underside rail",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the seat base to stabilize the chair during inspection or assembly",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "support seated body weight",
+                "provide main lounging surface",
+                "connect to the backrest and side supports",
+                "help distribute load to the base"
+            ],
+            "semantic_description": "Large light gray upholstered seat base with a matte fabric-like finish and soft smooth surface, forming the broad main lounging platform across most of the chair.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "backrest",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edge of the backrest to pull or rotate the chair slightly",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the backrest to stabilize the chair while another gripper manipulates the base",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "support the back",
+                "provide reclining surface",
+                "help define seating posture",
+                "offer upper-body comfort"
+            ],
+            "semantic_description": "Light gray padded backrest with a matte soft upholstered surface, broad and gently curved, mounted at an inclined angle at the rear of the chair.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "armrest and side rail",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one armrest/side rail to steady the chair during repositioning",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "use the side rail as a secondary grasp while another gripper holds the seat base",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "provide arm support",
+                "form the side boundary of the seat",
+                "help stiffen the side structure",
+                "connect the front and rear portions of the chair frame"
+            ],
+            "semantic_description": "Light gray elongated side member running along each side of the chair, appearing as a narrow padded or covered armrest/rail with a smooth matte finish.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red mask is support frame, not armrest/side rail; description and functions mismatch visible part."
+    }
+}

dataset/furniture/chair/b134115a03ed50678ebbb555d7a2b356/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4385d8ffca06b166965281eeff530e9c3bf08d3c84df46192ebcbfc4dc8878b
+size 483604

dataset/furniture/chair/b134115a03ed50678ebbb555d7a2b356/b134115a03ed50678ebbb555d7a2b356.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>