Add asset furniture/table/c6c32200816951b2998904219ef9df5f

.gitattributes

@@ -6981,3 +6981,4 @@ dataset/furniture/table/b72bd8b95d2e5e96a98dbd143fa5ce95/affordance/mesh_part_se
 dataset/furniture/table/c079096d2c9c58bbbde80d48e82c0767/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/c2884d53e6b950508840fa91aac4d5e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/c6c32200816951b2998904219ef9df5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/c6c32200816951b2998904219ef9df5f/affordance/affordance_annot.json

@@ -0,0 +1,84 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the small table",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the tabletop from the side to stabilize the table during manipulation",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a flat surface",
+                "support placed items",
+                "serve as the main top panel",
+                "enable pushing or repositioning by the edge"
+            ],
+            "semantic_description": "Large rectangular top panel in orange-brown wood tone with rounded corners and a smooth surface, forming the main horizontal surface; one side appears to have a small inward cutout or irregular contour.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table legs",
+            "mask_color": "Light Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or rotate the table slightly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table while another arm manipulates the top",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "grasp a leg while turning the table over during handling",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "provide floor contact",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Four slim cylindrical legs in a light wood or pale finish, positioned near the corners and extending downward to support the tabletop.",
+            "id": 56,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table apron",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side apron rail to help lift or carry the table",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the apron to stabilize the frame during assembly or repositioning",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "connect the legs",
+                "stiffen the frame",
+                "support the tabletop underside",
+                "provide lateral stability"
+            ],
+            "semantic_description": "Narrow rails beneath the tabletop edges, running between the legs around the underside frame; they appear pinkish-brown in the render and rectangular in section.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Semantic descriptions use incorrect visible colors/materials for legs and apron; RGB shows dark brown wooden parts, not pale or pinkish-brown."
+    }
+}

dataset/furniture/table/c6c32200816951b2998904219ef9df5f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b85860912a297bf75d98b22d3491317f1fccc1b49001d7fa7d0890abff31b511
+size 2229412

dataset/furniture/table/c6c32200816951b2998904219ef9df5f/c6c32200816951b2998904219ef9df5f.urdf

@@ -45,7 +45,7 @@
          <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>9</part_count>
+         <part_count>3</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>