Add asset furniture/table/865d5d7b493b53d6aedb820f441b4d92

.gitattributes

@@ -6971,3 +6971,4 @@ dataset/furniture/table/7a04e884bf8659ffa988c326af40c299/affordance/mesh_part_se
 dataset/furniture/table/7edbf49a69f25d348bcac72d91413215/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/848396479c0b5da3bc05d0ef74d4dcfb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/8628c99e795a5ff6a62f598a43fa9beb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/865d5d7b493b53d6aedb820f441b4d92.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/table/865d5d7b493b53d6aedb820f441b4d92/affordance/affordance_annot.json

@@ -0,0 +1,238 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the table",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the tabletop edge to stabilize the table during leg manipulation or assembly",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide flat work surface",
+                "support placed items",
+                "define main top structure",
+                "cover the upper surface of the table"
+            ],
+            "semantic_description": "Large rectangular dark reddish-brown wooden top with a smooth slightly glossy surface, broad and flat at the uppermost part of the table with subtly beveled edges.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or rotate the table slightly",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during lifting or inspection",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "support table height",
+                "transfer load to floor",
+                "stabilize structure",
+                "provide a corner support"
+            ],
+            "semantic_description": "Long tapered dark red-brown wooden leg with a smooth semi-gloss finish, straight and narrow, positioned at one corner and extending from the underside to the floor.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or rotate the table slightly",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during lifting or inspection",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "support table height",
+                "transfer load to floor",
+                "stabilize structure",
+                "provide a corner support"
+            ],
+            "semantic_description": "Long tapered dark red-brown wooden leg with a smooth semi-gloss finish, straight and narrow, positioned at one corner and extending from the underside to the floor.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or rotate the table slightly",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during lifting or inspection",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support table height",
+                "transfer load to floor",
+                "stabilize structure",
+                "provide a corner support"
+            ],
+            "semantic_description": "Long tapered dark red-brown wooden leg with a smooth semi-gloss finish, straight and narrow, positioned at one corner and extending from the underside to the floor.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or rotate the table slightly",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during lifting or inspection",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "support table height",
+                "transfer load to floor",
+                "stabilize structure",
+                "provide a corner support"
+            ],
+            "semantic_description": "Long tapered dark red-brown wooden leg with a smooth semi-gloss finish, straight and narrow, positioned at one corner and extending from the underside to the floor.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side apron",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the side apron to steady the table while moving it",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "grasp the apron edge during assembly or inspection",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "brace legs",
+                "stiffen tabletop frame",
+                "connect legs to top",
+                "reinforce structure"
+            ],
+            "semantic_description": "Thin dark reddish-brown wooden side rail beneath the tabletop, with a smooth hard finish and elongated rectangular shape running along one long table edge.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side apron",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the side apron to steady the table while moving it",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "grasp the apron edge during assembly or inspection",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "brace legs",
+                "stiffen tabletop frame",
+                "connect legs to top",
+                "reinforce structure"
+            ],
+            "semantic_description": "Thin dark reddish-brown wooden side rail beneath the tabletop, with a smooth hard finish and elongated rectangular shape running along the opposite long table edge.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside panel",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form underside surface",
+                "cover bottom of tabletop",
+                "provide underside area"
+            ],
+            "semantic_description": "Flat dark brown underside surface with a smooth hard finish, broad and recessed below the tabletop, visible mainly from low-angle views.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end apron",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the end apron to steady the table during repositioning",
+                    "confidence": 0.4
+                },
+                {
+                    "scenario": "grasp the end apron during assembly or turning the table over",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "brace legs",
+                "stiffen tabletop frame",
+                "connect legs to top",
+                "reinforce structure"
+            ],
+            "semantic_description": "Narrow dark reddish-brown wooden end rail under the tabletop, smooth and hard with a straight rectangular profile spanning between two legs on one short end.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end apron",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the end apron to steady the table during repositioning",
+                    "confidence": 0.39
+                },
+                {
+                    "scenario": "grasp the end apron during assembly or turning the table over",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "brace legs",
+                "stiffen tabletop frame",
+                "connect legs to top",
+                "reinforce structure"
+            ],
+            "semantic_description": "Narrow dark reddish-brown wooden end rail under the tabletop, smooth and hard with a straight rectangular profile spanning between two legs on the opposite short end.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Top shape/material and underside part identity are inaccurate; object is not a simple rectangular wooden table."
+    }
+}

dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84a756ddfdb654cd482c2d4d86f768199848a5630f83920b7e86c73edfbf1518
+size 699680