Add asset furniture/table/c079096d2c9c58bbbde80d48e82c0767

.gitattributes

@@ -6978,4 +6978,4 @@ dataset/furniture/table/8e73f2ff0aaa5b4393f3f37d91169bde/affordance/mesh_part_se
 dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/c26e870e9c735cf4b4c0f1db9e24a366/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/c079096d2c9c58bbbde80d48e82c0767/affordance/affordance_annot.json

@@ -0,0 +1,84 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the table",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the tabletop edge to stabilize the table during assembly or inspection",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a flat surface",
+                "support placed items",
+                "serve as main work surface",
+                "span and connect the legs"
+            ],
+            "semantic_description": "Large rectangular orange-brown wooden top with rounded corners, a mostly matte smooth finish, subtle wood grain, and a hard flat surface forming the uppermost part of the table.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "apron panel",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side apron panel to help reposition or carry the table",
+                    "confidence": 0.51
+                },
+                {
+                    "scenario": "hold the apron panel to stabilize the table while turning it over or inspecting the underside",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "reinforce the frame beneath the tabletop",
+                "connect and brace the legs",
+                "stiffen the table structure",
+                "cover part of the underside"
+            ],
+            "semantic_description": "Dark gray to brown apron-like panel beneath the tabletop with a smooth matte hard surface, spanning between the legs and appearing curved along the front edge in some views.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or reposition the table slightly",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table during lifting or assembly",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "grasp two nearby legs sequentially when turning the table over",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "provide floor contact",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Slender cylindrical brown legs, likely wood, with a matte smooth hard finish and simple unmarked form positioned at the corners to support the table.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/table/c079096d2c9c58bbbde80d48e82c0767/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:188055e0bb57587aa869d7c43536170840e2762c69bae53689dd8d05ae176fba
+size 700952

dataset/furniture/table/c079096d2c9c58bbbde80d48e82c0767/c079096d2c9c58bbbde80d48e82c0767.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>