Add asset furniture/table/f8742908f27059f7b1f63a34c1537bc6

.gitattributes

@@ -6986,3 +6986,4 @@ dataset/furniture/table/ca0ffde5d1045e34abcad2ca415bfad4/affordance/mesh_part_se
 dataset/furniture/table/ceba2ffe34c85af6994b3276b2618fa4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/f2382ad41208550eb278b73daa0d3ff5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/f8742908f27059f7b1f63a34c1537bc6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/f8742908f27059f7b1f63a34c1537bc6/affordance/affordance_annot.json

@@ -0,0 +1,198 @@
+{
+    "affordances": [
+        {
+            "part_name": "left half of tabletop",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge on the left half to lift or reposition the table",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the left tabletop edge to stabilize the table during assembly or alignment",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide work surface",
+                "support placed items",
+                "form half of main tabletop"
+            ],
+            "semantic_description": "Large rectangular dark reddish-brown wooden tabletop half with visible wood grain, a smooth slightly glossy finish, and a flat broad surface on the viewer-left side in the front view.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right half of tabletop",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge on the right half to lift or reposition the table",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the right tabletop edge to stabilize the table during assembly or alignment",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide work surface",
+                "support placed items",
+                "form half of main tabletop"
+            ],
+            "semantic_description": "Large rectangular dark reddish-brown wooden tabletop half with visible wood grain, a smooth slightly glossy finish, and a flat broad surface on the viewer-right side in the front view.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table apron/frame rail",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the narrow side rail under the tabletop to steady the table while moving it",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the rail during assembly or inspection",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "connect legs",
+                "stiffen table frame",
+                "support tabletop perimeter",
+                "reinforce structure"
+            ],
+            "semantic_description": "Thin dark gray narrow rail beneath the tabletop edge, likely painted metal with a matte smooth finish, running around the table perimeter.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to pivot or reposition the table slightly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during lifting or assembly",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support table",
+                "elevate tabletop",
+                "transfer load to floor",
+                "stabilize structure"
+            ],
+            "semantic_description": "Slender dark gray leg, likely metal, with a matte smooth finish and a straight slightly tapered form descending from a tabletop corner to the floor.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to pivot or reposition the table slightly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during lifting or assembly",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support table",
+                "elevate tabletop",
+                "transfer load to floor",
+                "stabilize structure"
+            ],
+            "semantic_description": "Slender dark gray leg, likely metal, with a matte smooth finish and a straight slightly tapered form descending from a tabletop corner to the floor.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to pivot or reposition the table slightly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during lifting or assembly",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support table",
+                "elevate tabletop",
+                "transfer load to floor",
+                "stabilize structure"
+            ],
+            "semantic_description": "Slender dark gray leg, likely metal, with a matte smooth finish and a straight slightly tapered form descending from a tabletop corner to the floor.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to pivot or reposition the table slightly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during lifting or assembly",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support table",
+                "elevate tabletop",
+                "transfer load to floor",
+                "stabilize structure"
+            ],
+            "semantic_description": "Slender dark gray leg, likely metal, with a matte smooth finish and a straight slightly tapered form descending from a tabletop corner to the floor.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside panel of tabletop",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the table from below by placing gripper contact on the broad underside panel during lifting",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "press against the underside panel to stabilize or reorient the table while manipulating the legs",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "form underside surface",
+                "cover bottom of tabletop",
+                "add structural thickness",
+                "support top panel"
+            ],
+            "semantic_description": "Broad dark gray underside surface beneath the top, appearing hard and smooth with a matte finish, spanning most of the table bottom as a flat rectangular area.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Orange part misidentified and rail color/description are inaccurate; tabletop split naming is viewpoint-specific and inconsistent across views."
+    }
+}

dataset/furniture/table/f8742908f27059f7b1f63a34c1537bc6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4be40c10c9701128e6484fc637fc720024d4f795d05b9140251824d047158047
+size 1689104

dataset/furniture/table/f8742908f27059f7b1f63a34c1537bc6/f8742908f27059f7b1f63a34c1537bc6.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>