Add asset furniture/table/9aa94e8e837e5638b87533237d64e8f6

.gitattributes

@@ -6975,3 +6975,4 @@ dataset/furniture/table/86d11bf2fc675dc1973f8337a88f365c/affordance/mesh_part_se
 dataset/furniture/table/86f0cbbe2e6250c499ef075c7580b555/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/9aa94e8e837e5638b87533237d64e8f6/affordance/affordance_annot.json

@@ -0,0 +1,293 @@
+{
+    "affordances": [
+        {
+            "part_name": "upholstered seat top",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat edge to lift or reposition the bench",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the seat edge to stabilize the bench during inspection or movement",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "provide a padded sitting surface",
+                "support a seated user",
+                "form the main upper body",
+                "improve comfort through upholstery"
+            ],
+            "semantic_description": "Large rounded rectangular red upholstered top with a smooth matte fabric or vinyl-like finish and thick cushioned appearance, forming the upper horizontal seat surface.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front side rail",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front rail under the seat to pull or reposition the bench",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold the front rail to steady the bench while another gripper handles a leg",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "connect the front legs",
+                "support the seat base",
+                "stiffen the front structure",
+                "form the front face beneath the seat"
+            ],
+            "semantic_description": "Long curved front rail beneath the seat, likely dark wood with a smooth semi-gloss finish, spanning most of the width across the front.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front lower stretcher",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower front stretcher to help drag or align the bench",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "hold the stretcher to steady the bench during handling",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "reinforce the lower front",
+                "connect the front legs at a lower level",
+                "add rigidity",
+                "brace the leg structure"
+            ],
+            "semantic_description": "Narrow horizontal member near the bottom front, likely dark wood with a smooth finish, running between the front legs.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left front leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift one side of the bench slightly",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the leg to reposition or rotate the bench",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "support the seat",
+                "elevate the bench",
+                "stabilize the left front corner",
+                "transfer load to the floor"
+            ],
+            "semantic_description": "Slender curved dark wooden leg with a smooth semi-gloss finish, extending down at the left front corner and ending in a small foot.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right front leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift one side of the bench slightly",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the leg to reposition or rotate the bench",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "support the seat",
+                "elevate the bench",
+                "stabilize the right front corner",
+                "transfer load to the floor"
+            ],
+            "semantic_description": "Slender curved dark wooden leg with a smooth semi-gloss finish, extending down at the right front corner and ending in a small foot.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side rail",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side rail under the seat to pull the bench sideways",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the side rail to steady the bench during movement",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "connect front and rear legs on the left side",
+                "support the seat base",
+                "add lateral rigidity",
+                "form the left side structure beneath the seat"
+            ],
+            "semantic_description": "Curved side rail on the left, likely dark wood with a smooth semi-gloss finish, extending between the left front and left rear legs beneath the seat.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side rail",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side rail under the seat to pull the bench sideways",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the side rail to steady the bench during movement",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "connect front and rear legs on the right side",
+                "support the seat base",
+                "add lateral rigidity",
+                "form the right side structure beneath the seat"
+            ],
+            "semantic_description": "Curved side rail on the right, likely dark wood with a smooth semi-gloss finish, extending between the right front and right rear legs beneath the seat.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left rear leg",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear leg to reposition the bench",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the leg while rotating the bench for placement",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "support the seat",
+                "elevate the bench",
+                "stabilize the left rear corner",
+                "transfer load to the floor"
+            ],
+            "semantic_description": "Slender curved dark wooden rear leg with a smooth semi-gloss finish, positioned at the left back corner and ending in a small foot.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right rear leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear leg to reposition the bench",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the leg while rotating the bench for placement",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "support the seat",
+                "elevate the bench",
+                "stabilize the right rear corner",
+                "transfer load to the floor"
+            ],
+            "semantic_description": "Slender curved dark wooden rear leg with a smooth semi-gloss finish, positioned at the right back corner and ending in a small foot.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.054285962134599686,
+                    "position": [
+                        0.1596249844878912,
+                        -0.3209253344684839,
+                        0.21618559211492538
+                    ],
+                    "orientation": {
+                        "w": 0.9126139638657447,
+                        "xyz": [
+                            0.298043778994349,
+                            -0.12382542946462849,
+                            0.2509440610532986
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "left rear side support",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the left side rail to the rear body",
+                "support the upholstered side/back body",
+                "add structural continuity"
+            ],
+            "semantic_description": "Small vertical support piece near the left rear side, likely dark wood with a smooth finish, tucked between the side structure and the curved upholstered rear body.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right rear side support",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the right side rail to the rear body",
+                "support the upholstered side/back body",
+                "add structural continuity"
+            ],
+            "semantic_description": "Small vertical support piece near the right rear side, likely dark wood with a smooth finish, tucked between the side structure and the curved upholstered rear body.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "curved upholstered body panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower edge of the upholstered body to help pull the bench backward",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the rear body to stabilize the bench during movement",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "enclose the underside body",
+                "cover and support the seat base",
+                "form the curved rear and bottom exterior",
+                "add bulk and visual finish"
+            ],
+            "semantic_description": "Broad curved upholstered body panel in light pink to reddish tones with a smooth matte appearance, wrapping around much of the back and underside below the seat and above the floor.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and part identities mismatch; rear support pieces are actually rear legs, not side supports."
+    }
+}

dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
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+size 507820