Add asset furniture/chair/2145cf454abf5e3ca93f46a41929a3b4

.gitattributes

@@ -6904,3 +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/2145cf454abf5e3ca93f46a41929a3b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/2145cf454abf5e3ca93f46a41929a3b4/2145cf454abf5e3ca93f46a41929a3b4.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/2145cf454abf5e3ca93f46a41929a3b4/affordance/affordance_annot.json

@@ -0,0 +1,60 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat from opposite edges to lift and move the bar stool",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the seat to stabilize the stool while repositioning it",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "provide top surface",
+                "distribute body weight",
+                "serve as main upper platform"
+            ],
+            "semantic_description": "A medium-sized rounded-square orange cushioned seat at the top, likely upholstered fabric or vinyl with a matte smooth soft surface and thick padded profile.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base frame",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side rail or leg section to drag or reposition the stool",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the frame to stabilize the stool during inspection or assembly",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the lower frame to lift the stool when the seat is obstructed",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support the seat",
+                "provide structural stability",
+                "act as footrest",
+                "maintain stance on floor"
+            ],
+            "semantic_description": "A brown wooden frame with four straight legs and connecting stretchers, featuring a matte hard smooth finish, slender rectangular bars, and a rigid open structure beneath the seat.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/2145cf454abf5e3ca93f46a41929a3b4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36126bfda2e8cc309088c48d05b572e796ae87d87dd8eed01913a6ba39e7c43c
+size 2186384