Add asset furniture/chair/e0206c565df6515dbf5ce946e39d9aca

.gitattributes

@@ -6935,3 +6935,4 @@ dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/affordance/mesh_part_se
 dataset/furniture/chair/b6a47e233e8b580ea09e90d642c65529/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/c405d6395a7156dfa757ca79e10483e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/cc65ec7b857a5feea4515cc2af54e926/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/e0206c565df6515dbf5ce946e39d9aca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/e0206c565df6515dbf5ce946e39d9aca/affordance/affordance_annot.json

@@ -0,0 +1,61 @@
+{
+    "affordances": [
+        {
+            "part_name": "chair frame and backrest",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top or side of the backrest to pull and reposition the chair",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp a side frame member to steady the chair during placement",
+                    "confidence": 0.75
+                },
+                {
+                    "scenario": "grasp a leg or lower frame member to lift or drag the chair slightly",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "support the seat",
+                "provide the backrest structure",
+                "provide structural rigidity",
+                "contact the floor through the legs",
+                "enable moving the chair by the frame"
+            ],
+            "semantic_description": "Light gray rigid frame with a smooth matte finish, including the tall slightly curved backrest, side supports, and slender legs forming the chair's outer structure.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front or side edge of the seat to nudge or rotate the chair during arrangement",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "pinch the seat edge briefly to stabilize the chair while adjusting its position",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "support sitting",
+                "provide seating comfort",
+                "distribute body weight",
+                "offer a padded contact surface"
+            ],
+            "semantic_description": "Light gray upholstered seat with a matte soft-looking smooth surface and rounded front edge, medium-sized and centered within the chair frame below the backrest.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/chair/e0206c565df6515dbf5ce946e39d9aca/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfcc79c95072f62ddcd0c7aa31274c9f76bf789d116a61d3812e1a5764a46389
+size 1664856

dataset/furniture/chair/e0206c565df6515dbf5ce946e39d9aca/e0206c565df6515dbf5ce946e39d9aca.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>