Add asset furniture/table/b6b0dd6f66465938a67e4fd35d310d06

.gitattributes

@@ -6976,4 +6976,4 @@ dataset/furniture/table/86f0cbbe2e6250c499ef075c7580b555/affordance/mesh_part_se
 dataset/furniture/table/87d78067051e57c3858d066d9a17a165/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/8e73f2ff0aaa5b4393f3f37d91169bde/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/ae2b63e5da8456a2902262936230b800/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/affordance/affordance_annot.json

@@ -0,0 +1,111 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift and reposition the table",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the tabletop side to stabilize the table during movement",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a flat upper surface",
+                "support placed items",
+                "serve as the main contact surface"
+            ],
+            "semantic_description": "Large rectangular tabletop with rounded corners and a smooth finish, appearing dark reddish-brown on the upper surface and forming the main top of the table.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table frame and legs",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a table leg to drag or rotate the table slightly",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "grasp a leg or frame section to steady the table while moving it",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "provide structural stability",
+                "transfer load to the floor"
+            ],
+            "semantic_description": "Structural base consisting of four straight legs and surrounding frame rails beneath the tabletop, with a smooth dark brown appearance in the RGB views.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot cap",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect the leg end",
+                "reduce floor wear",
+                "provide contact point with floor"
+            ],
+            "semantic_description": "Small end cap at one leg tip, visible as a tiny darker piece at the bottom of a table leg where it meets the floor.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot cap",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect the leg end",
+                "reduce floor wear",
+                "provide contact point with floor"
+            ],
+            "semantic_description": "Small end cap at one leg tip, visible as a small darker piece at the bottom of a table leg.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot cap",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect the leg end",
+                "reduce floor wear",
+                "provide contact point with floor"
+            ],
+            "semantic_description": "Small end cap at one leg tip, seen as a tiny dark piece at the base of a leg.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot cap",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect the leg end",
+                "reduce floor wear",
+                "provide contact point with floor"
+            ],
+            "semantic_description": "Small end cap at one leg tip, appearing as a compact darker piece at the bottom of a wooden-looking leg.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Foot-cap mask colors are mismatched; red/green/blue/orange do not consistently map to the same leg tips across views."
+    }
+}

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ccbab2a078b6ba19ce740c33908c81b325056aa7781d5569ba838163bb0a2e4
+size 1846004

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/b6b0dd6f66465938a67e4fd35d310d06.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>