Add asset furniture/chair/5e84202e9a055d94a3eedc987043f8f5

.gitattributes

@@ -6912,3 +6912,4 @@ dataset/furniture/chair/44dd41d5ce395d849c685a1d2070ac05/affordance/mesh_part_se
 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/5e84202e9a055d94a3eedc987043f8f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/5e84202e9a055d94a3eedc987043f8f5.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/5e84202e9a055d94a3eedc987043f8f5/affordance/affordance_annot.json

@@ -0,0 +1,61 @@
+{
+    "affordances": [
+        {
+            "part_name": "chair body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest or side panel to pull or reposition the chair",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the side/back body to stabilize the chair during movement",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "grasp the lower side of the body to tilt the chair slightly for repositioning",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "support seated user",
+                "form backrest and armrests",
+                "enclose and support the seat cushion",
+                "provide overall chair structure",
+                "contact the floor through the base"
+            ],
+            "semantic_description": "Large off-white upholstered chair body with a matte fabric-like finish, soft padded appearance, and boxy shape forming the backrest, side arms, and lower outer base around the seat.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the seat cushion to steady or slightly reposition the chair",
+                    "confidence": 0.4
+                },
+                {
+                    "scenario": "pinch the cushion edge to adjust or inspect the seating surface",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "provide comfort",
+                "distribute body weight",
+                "offer a padded contact surface"
+            ],
+            "semantic_description": "Rectangular off-white seat cushion with a matte upholstered surface, soft smooth padded texture, and slightly rounded edges, positioned centrally between the chair arms.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c26e92213385ffeb76bf2b1f86c7452f57b48ccfd00ec02f5f706fd6fc97986b
+size 2253136