Add asset furniture/chair/82c5af57f9c45881beb56e8447e52420

.gitattributes

@@ -6914,4 +6914,4 @@ dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/affordance/mesh_part_se
 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/78b42bb137d45170aa4187f9f1c02394/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/82c5af57f9c45881beb56e8447e52420.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/82c5af57f9c45881beb56e8447e52420/affordance/affordance_annot.json

@@ -0,0 +1,116 @@
+{
+    "affordances": [
+        {
+            "part_name": "chair base with casters",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the central base or a leg to drag or reposition the chair",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the base to stabilize the chair during inspection or assembly",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "lift the chair slightly by a sturdy base leg",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "provide rolling mobility",
+                "stabilize against tipping",
+                "connect seat to floor contact points"
+            ],
+            "semantic_description": "Five-star dark gray to black base with small caster wheels, likely metal and plastic, with a matte to satin hard smooth finish, located at the bottom and spanning wider than the seat for stability.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front or side edge of the seat to pull or reposition the chair",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the seat underside or edge to steady the chair while rotating it",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide seated comfort",
+                "serve as main user contact surface"
+            ],
+            "semantic_description": "Rectangular dark blue cushioned seat with rounded edges, likely upholstered fabric over padding, with a matte soft smooth texture, medium size, centered above the wheeled base.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "armrests",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest to pull the chair closer to a desk",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold an armrest to rotate or steer the chair while rolling",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "lift or tilt the chair slightly using both armrests",
+                    "confidence": 0.51
+                }
+            ],
+            "functional_labels": [
+                "support the forearms",
+                "provide side stabilization",
+                "assist repositioning the chair",
+                "offer convenient side handhold"
+            ],
+            "semantic_description": "Pair of short dark gray armrests with padded dark blue tops, likely plastic and metal with matte hard surfaces and slightly softer pads, mounted on both sides of the seat and lower back area.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "backrest frame and back cushion",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top of the backrest to roll or pull the chair",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the backrest side to orient the chair",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "lift the chair by the upper back frame for short repositioning",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support the back",
+                "provide upper-body comfort",
+                "maintain sitting posture",
+                "serve as a main handle for moving the chair"
+            ],
+            "semantic_description": "Tall dark blue backrest within a silver-gray frame, likely upholstered fabric with metal or plastic structure, featuring matte smooth surfaces, a head-level opening, and a large upright form behind the seat.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45e1efa68d2943ff4c49c0e4ddb1dd7f4fd03ed91f5ffb076fd05bd26e60b0c9
+size 1976664