Add asset furniture/chair/3c8316d2a50f52c39679add8cb14316e

.gitattributes

@@ -6906,3 +6906,4 @@ dataset/furniture/chair/10c87a4ce36a5b089a8b3cbf59a56e0d/affordance/mesh_part_se
 dataset/furniture/chair/168dc892fd225cf1bde437bebb61bc98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/227d2228bfda5cf482a89fe7b57707ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/2efc8403883253df82fe9ecf9649d1cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/3c8316d2a50f52c39679add8cb14316e.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/3c8316d2a50f52c39679add8cb14316e/affordance/affordance_annot.json

@@ -0,0 +1,66 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat and backrest assembly",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the chair by the seat edge or armrest area to pull or reposition it",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the backrest or seat side to stabilize the chair during inspection",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "lift part of the chair slightly by the upholstered body during short-range relocation",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "support the back",
+                "provide arm support",
+                "main contact surface for the user",
+                "enclose and connect upper chair structure"
+            ],
+            "semantic_description": "Large blue upholstered chair body including the cushioned seat, tall backrest, and padded armrests, with a soft smooth matte fabric-like surface and rounded contours forming the upper portion of the chair.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base with casters",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one of the base legs to drag or reposition the chair",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the central base underneath to stabilize the chair while rotating or aligning it",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "grasp near a caster or leg during maintenance or lifting from the bottom",
+                    "confidence": 0.51
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "enable rolling",
+                "provide stability",
+                "distribute load to the floor",
+                "allow swivel base connection"
+            ],
+            "semantic_description": "Five-spoke black base with small caster wheels, likely hard plastic or painted metal, showing a dark matte to slightly satin finish, smooth hard surfaces, and positioned beneath the seat as the chair's ground-contact structure.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c42e46c9e896cd560b91f01ba6ba5aaab2577350fbc314b4d66d9dc61668488d
+size 2069692