Add asset furniture/chair/4c497ddfe8e55e75975a894565d4dc35

.gitattributes

@@ -6910,3 +6910,4 @@ dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/affordance/mesh_part_se
 dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/44dd41d5ce395d849c685a1d2070ac05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/4b026bec19645958acf827e57af54693/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/4c497ddfe8e55e75975a894565d4dc35.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/4c497ddfe8e55e75975a894565d4dc35/affordance/affordance_annot.json

@@ -0,0 +1,88 @@
+{
+    "affordances": [
+        {
+            "part_name": "chair base",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a base spoke to drag or reposition the chair on the floor",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold a base spoke to stabilize the chair during inspection or assembly",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "lift the chair by the central base when the seat and arms are obstructed",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "support the chair",
+                "provide rolling mobility",
+                "stabilize against tipping",
+                "connect seat to casters"
+            ],
+            "semantic_description": "Five-spoke dark gray to black base with small casters, likely painted metal and plastic, with a mostly matte hard smooth finish located at the bottom of the chair.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the seat to pull or rotate the chair slightly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the seat cushion to steady the chair while moving it short distances",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "distribute body weight",
+                "provide seated comfort",
+                "define sitting position"
+            ],
+            "semantic_description": "Thick teal-blue upholstered seat cushion with a matte soft fabric-like surface, smooth padded texture, and a broad rectangular shape at the lower center of the chair.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "backrest frame and armrests",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an armrest to pull out or reposition the chair",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the upper backrest frame to steer or roll the chair",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp the side frame to stabilize the chair during use or inspection",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support the back",
+                "support the forearms",
+                "provide side structure",
+                "serve as main handling frame"
+            ],
+            "semantic_description": "Large dark gray frame assembly including the tall backrest surround, integrated top headrest area, and both armrests, appearing as hard plastic or painted metal with a matte smooth finish and gently curved structural surfaces.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ee00ebbb93fbb1528c2d0120a83ad5452ab9f699d55423c81917b5c9a0a2a2e
+size 2249472