Add asset furniture/chair/a4539947ba215e03a1cb360dc16404b7

.gitattributes

@@ -6925,3 +6925,4 @@ dataset/furniture/chair/9728e6d691495044806972186fa7f0c4/affordance/mesh_part_se
 dataset/furniture/chair/9f58a180b2ba5763b50f001292852a49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/a426a51f50ac5358afe018a568c01d24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/a4539947ba215e03a1cb360dc16404b7.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/a4539947ba215e03a1cb360dc16404b7/affordance/affordance_annot.json

@@ -0,0 +1,80 @@
+{
+    "affordances": [
+        {
+            "part_name": "rear backrest and rear leg frame",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top of the backrest to pull or reposition the chair",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the side of the rear frame/backrest to stabilize the chair during placement",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "support the sitter's back",
+                "provide a pulling point for repositioning",
+                "form the rear structural frame",
+                "connect the backrest to the floor through the rear legs"
+            ],
+            "semantic_description": "Integrated rear chair structure in orange plastic with a smooth slightly glossy finish, consisting of a curved backrest with two oval cutouts and continuous side members that extend down as the rear legs.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front or side edge of the seat to lift the chair",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the seat to stabilize the chair while rotating or placing it",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide the main sitting surface",
+                "serve as a central handling area"
+            ],
+            "semantic_description": "Broad rounded-square yellow-orange seat with a smooth slightly glossy plastic surface, positioned centrally beneath the backrest with softly rounded edges.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front legs",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one front leg to steady the chair during placement",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "grasp both front legs together near their upper section to drag or reposition the chair",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "support the front of the chair",
+                "elevate the seat",
+                "contact the floor",
+                "help provide stability"
+            ],
+            "semantic_description": "Two slender orange front legs with a smooth finish, extending downward from the front corners of the seat as narrow supports.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9eea669b8d9d9d4882dafd644661e5b419b76c9b1548e39df861d7883cec32c
+size 1621096