Add asset furniture/table/c72bf29bcad65fcab382e96591d2c01c

.gitattributes

@@ -6982,3 +6982,4 @@ dataset/furniture/table/c079096d2c9c58bbbde80d48e82c0767/affordance/mesh_part_se
 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/c72bf29bcad65fcab382e96591d2c01c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/c72bf29bcad65fcab382e96591d2c01c/affordance/affordance_annot.json

@@ -0,0 +1,176 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the table",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the tabletop edge to stabilize the table during inspection or assembly",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "provide a flat support surface",
+                "hold items above the floor",
+                "define the main work area",
+                "distribute load across the frame"
+            ],
+            "semantic_description": "Large reddish-brown wooden top with a smooth polished finish and visible wood grain, broad and flat, forming the upper horizontal surface of the table.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "apron/frame underside panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the underside apron/frame edge to steady the table while moving it",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "hold the underside frame during inspection or reorientation",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "stiffen the frame",
+                "support the tabletop underside",
+                "connect the apron structure around the legs",
+                "reduce wobble"
+            ],
+            "semantic_description": "Reddish-brown wooden underside apron/frame area beneath the tabletop, with a smooth polished surface and gently curved perimeter visible between the legs.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front apron rail",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front apron rail to stabilize the table during handling",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the front rail while slightly repositioning the table",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "connect the front legs",
+                "brace the front of the frame",
+                "support the tabletop underside",
+                "add structural rigidity"
+            ],
+            "semantic_description": "A narrow reddish-brown wooden rail running beneath the front edge of the tabletop between the front legs, with a smooth polished finish.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right front leg",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the right front leg to lift or rotate one side of the table",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the right front leg to stabilize the table during transport",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "transfer load to the floor",
+                "stabilize a front corner"
+            ],
+            "semantic_description": "A curved cabriole-style reddish-brown wooden leg with a glossy smooth finish, positioned at the right front corner and tapering toward the foot.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left front leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the left front leg to lift or rotate one side of the table",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the left front leg to stabilize the table during transport",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "transfer load to the floor",
+                "stabilize a front corner"
+            ],
+            "semantic_description": "A curved cabriole-style reddish-brown wooden leg with a glossy smooth finish, positioned at the left front corner and tapering toward the foot.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear right leg",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear right leg to pivot or pull the table from that corner",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the rear right leg to steady the table while aligning it",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support a rear corner",
+                "transfer load to the floor",
+                "stabilize the frame",
+                "define table corner placement"
+            ],
+            "semantic_description": "A single curved reddish-brown wooden leg with a polished smooth finish, slender and tapering, located at the rear right corner of the table.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side apron rail",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side apron rail to steady the table during handling",
+                    "confidence": 0.37
+                },
+                {
+                    "scenario": "hold the side rail briefly while rotating the table for inspection",
+                    "confidence": 0.33
+                }
+            ],
+            "functional_labels": [
+                "connect adjacent legs",
+                "stiffen the side of the frame",
+                "support the tabletop underside",
+                "help resist twisting"
+            ],
+            "semantic_description": "A reddish-brown wooden side apron rail beneath the tabletop edge, with a smooth polished finish and a gently curved lower profile visible along one side.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Missing one leg part and mislabeled mask colors/part identities for several segmented rails/legs."
+    }
+}

dataset/furniture/table/c72bf29bcad65fcab382e96591d2c01c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05cf16e41ba704d8479a3f997c1409bf435ba0fce3e4baeb2be4f003a795990b
+size 705948

dataset/furniture/table/c72bf29bcad65fcab382e96591d2c01c/c72bf29bcad65fcab382e96591d2c01c.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>