Add asset furniture/chair/227d2228bfda5cf482a89fe7b57707ce

.gitattributes

@@ -6904,4 +6904,4 @@ dataset/food/snack/fd036c379c7b5305b78e4a6b1784151f/affordance/mesh_part_seg.glb
 dataset/furniture/chair/05f5b92fac8b5d7bb215d3876ab2b361/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/10c87a4ce36a5b089a8b3cbf59a56e0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/168dc892fd225cf1bde437bebb61bc98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/2548bbbca49c5cff9a77fa155fa9a9c8/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/227d2228bfda5cf482a89fe7b57707ce/227d2228bfda5cf482a89fe7b57707ce.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/227d2228bfda5cf482a89fe7b57707ce/affordance/affordance_annot.json

@@ -0,0 +1,88 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat and back cushion",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cushion body from the side to lift or reposition the chair",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the cushion edge to stabilize the chair during adjustment or inspection",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support seated body weight",
+                "provide back support",
+                "offer a padded contact surface",
+                "main resting surface"
+            ],
+            "semantic_description": "Large yellow upholstered cushion forming both seat and back, with a matte fabric-like finish, soft smooth texture, broad slab shape, and a visible bend between the seat and back sections.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side support frame",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side frame to drag or reposition the chair",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the rigid frame to lift one side of the chair",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "use the frame as a stabilizing hold while rotating the chair",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support the chair structure",
+                "stabilize the seat",
+                "bear load to the floor",
+                "provide a rigid handling point"
+            ],
+            "semantic_description": "Angular dark gray metal rod frame with a matte finish and hard smooth feel, forming large polygonal side loops beneath the seat on both sides.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "connector rails and bars",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front top bar to pull or nudge the chair into place",
+                    "confidence": 0.75
+                },
+                {
+                    "scenario": "hold a lower connecting rail to steady the chair during lifting by another part",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "pinch a side connector rail near a frame joint to tilt the chair for repositioning",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "connect frame sections",
+                "reinforce the structure",
+                "stabilize against racking",
+                "provide secondary handling points"
+            ],
+            "semantic_description": "Thin dark gray metal rods with a matte finish and hard smooth texture, including the upper front bar and lower side and front connector rails linking the side frames beneath and in front of the cushion.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Yellow and magenta parts are swapped; front bar belongs to side frame mask, not connector rails."
+    }
+}

dataset/furniture/chair/227d2228bfda5cf482a89fe7b57707ce/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:281b53d9b7ad1f100d0f79f4731c4179ff25b1baa52913d18ea479548d9efa2d
+size 1940404