Add asset furniture/chair/afe23b0ac0725274b6c6cb4884208067

.gitattributes

@@ -6929,3 +6929,4 @@ dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/affordance/mesh_part_se
 dataset/furniture/chair/abf4d4dbd52f5ccaa3611c94c5d06123/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/af973e06d70d5a08ad67cfa9fe61492c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/afe23b0ac0725274b6c6cb4884208067.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/afe23b0ac0725274b6c6cb4884208067/affordance/affordance_annot.json

@@ -0,0 +1,85 @@
+{
+    "affordances": [
+        {
+            "part_name": "main lounge cushion",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the main cushion to slightly pull or reposition the chaise lounge",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "pinch the cushion edge to steady it during inspection or cleaning",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "support sitting or reclining",
+                "provide body cushioning",
+                "distribute user weight",
+                "offer the primary body contact surface"
+            ],
+            "semantic_description": "Large brown upholstered cushion with a matte fabric-like finish and soft smooth texture, forming the main elongated reclined surface across the center and front of the chaise lounge.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "backrest cushion",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper backrest cushion to adjust or straighten it on the chair",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the back cushion aside to access the frame or clean behind it",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support the back or head",
+                "provide localized cushioning",
+                "improve lounging comfort",
+                "help maintain a reclined resting posture"
+            ],
+            "semantic_description": "Brown padded backrest cushion with a matte fabric surface and soft texture, positioned upright at the head end of the chaise lounge behind the main cushion.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chair frame and base",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side frame rail to lift or carry the chaise lounge",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the frame to drag or reposition the chair on the floor",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the front or rear frame edge to stabilize the chair during use or inspection",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "support the cushions",
+                "provide structural rigidity",
+                "bear user load",
+                "stabilize on the floor",
+                "elevate the seating surface"
+            ],
+            "semantic_description": "Large light gray wicker or rattan-like frame with a matte woven texture and rigid construction, wrapping around the chair sides and base with curved rails, open side supports, and short feet.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Yellow mask is a loose side pillow, not backrest cushion behind main seat."
+    }
+}

dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b59841ca6c4a5b7cbd0532cc849cde1fb7aae14254d18708da96e7ea5402947
+size 506148