Add asset furniture/table/c2884d53e6b950508840fa91aac4d5e5

.gitattributes

@@ -6979,3 +6979,4 @@ dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/affordance/mesh_part_se
 dataset/furniture/table/b4b40966ebda5393bd4d7fc634062519/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/b72bd8b95d2e5e96a98dbd143fa5ce95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/c2884d53e6b950508840fa91aac4d5e5/affordance/affordance_annot.json

@@ -0,0 +1,176 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the table",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the tabletop edge to stabilize the table during leg manipulation",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "provide a flat support surface",
+                "hold items above the floor",
+                "define the main work area",
+                "connect the legs into one structure"
+            ],
+            "semantic_description": "Large square wooden top with rounded corners and a smooth medium brown finish, forming the broad flat upper surface of the table.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower shelf",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the shelf edge from below to help lift or tilt the table",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the shelf to stabilize the table while moving it",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "provide lower storage",
+                "add structural bracing",
+                "support items below the tabletop",
+                "increase table stability"
+            ],
+            "semantic_description": "Broad square lower shelf in brown wood beneath the tabletop, with a smooth finished surface and curved edges spanning between the legs.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or reposition the table",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during transport",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "raise the tabletop",
+                "transfer load to the floor",
+                "provide stance"
+            ],
+            "semantic_description": "One slender brown wooden leg with a smooth finish, positioned at a corner and extending vertically from the tabletop to the floor.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or reposition the table",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during transport",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "raise the tabletop",
+                "transfer load to the floor",
+                "provide stance"
+            ],
+            "semantic_description": "One slender brown wooden leg with a smooth finish, positioned at a corner and extending vertically from the tabletop to the floor.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or reposition the table",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during transport",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "raise the tabletop",
+                "transfer load to the floor",
+                "provide stance"
+            ],
+            "semantic_description": "One slender brown wooden leg with a smooth finish, positioned at a corner and extending vertically from the tabletop to the floor.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or reposition the table",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during transport",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "raise the tabletop",
+                "transfer load to the floor",
+                "provide stance"
+            ],
+            "semantic_description": "One slender brown wooden leg with a smooth finish, positioned at a corner and extending vertically from the tabletop to the floor.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower side rail",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower side rail to steady the table during lifting or repositioning",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold the rail lightly while aligning or rotating the table",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "connect lower structure between legs",
+                "stiffen the frame",
+                "support the lower shelf structure",
+                "reinforce the table side"
+            ],
+            "semantic_description": "Narrow brown wooden rail below the tabletop and along the side of the lower shelf area, with a smooth finished surface and horizontal strip-like shape between two legs.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Cyan part is shelf edge/apron, not lower side rail below shelf; several descriptions mention wrong placement and unsupported lower structure."
+    }
+}

dataset/furniture/table/c2884d53e6b950508840fa91aac4d5e5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e021c3b471b7415f8e42c908351287f5d3505a1b2946b932941f80cd6e92f19
+size 724280

dataset/furniture/table/c2884d53e6b950508840fa91aac4d5e5/c2884d53e6b950508840fa91aac4d5e5.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>