Add asset furniture/chair/9728e6d691495044806972186fa7f0c4

.gitattributes

@@ -6921,4 +6921,4 @@ dataset/furniture/chair/8ef7dc83766750919e80a41fbc812966/affordance/mesh_part_se
 dataset/furniture/chair/8faec18bd3ab546f9d78097cdfba70c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/9342276a96af50c6b0dba3b4e2628bc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/95a3f4f55878542a9a6ed333d179c693/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/9728e6d691495044806972186fa7f0c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/9728e6d691495044806972186fa7f0c4/9728e6d691495044806972186fa7f0c4.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/9728e6d691495044806972186fa7f0c4/affordance/affordance_annot.json

@@ -0,0 +1,99 @@
+{
+    "affordances": [
+        {
+            "part_name": "backrest",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top of the backrest to pull or reposition the chair",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the backrest to stabilize the chair during inspection or transport",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support the sitter's back",
+                "provide upper body comfort",
+                "serve as a pushing point",
+                "help reposition the chair"
+            ],
+            "semantic_description": "Large upholstered light beige fabric backrest with a matte woven surface and soft cushioned feel, vertically positioned at the rear with a broad rectangular shape and gently rounded top edge.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the seat to pull the chair slightly",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "pinch the seat cushion edge to stabilize the chair during handling",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide sitting comfort",
+                "form the main sitting surface"
+            ],
+            "semantic_description": "Broad light beige upholstered seat cushion with a matte fabric finish and soft padded texture, forming the horizontal central sitting surface with a slightly recessed rectangular shape.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "armrest and outer frame",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest side to lift or drag the chair",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the side frame to rotate or reposition the chair",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "use both armrests for a two-sided carry",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "support the user's arms",
+                "provide side containment",
+                "serve as main handling structure",
+                "support and connect the chair body"
+            ],
+            "semantic_description": "Wraparound light beige upholstered side frame with integrated armrests, covered in matte woven fabric with a soft cushioned feel, forming the thick outer sides and top rails around the seat and back.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feet",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the chair on the floor",
+                "stabilize the base",
+                "maintain clearance from the ground",
+                "distribute load to the floor"
+            ],
+            "semantic_description": "Small dark feet at the bottom corners, likely hard plastic or wood with a smooth matte finish, compact block-like shapes that contact the floor and are visually minor relative to the chair.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/9728e6d691495044806972186fa7f0c4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01a8263315253be59fae70c325ed9871f04ead0fe5bb7e3dc8e226f70f951cb6
+size 627852