Add asset furniture/table/fa7b59f30c8b527eb0a9a03f051f6652

.gitattributes

@@ -6986,4 +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/fa7b59f30c8b527eb0a9a03f051f6652/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/fa7b59f30c8b527eb0a9a03f051f6652/affordance/affordance_annot.json

@@ -0,0 +1,200 @@
+{
+    "affordances": [
+        {
+            "part_name": "desktop",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the desktop edge to lift or reposition the desk during assembly or moving",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the desktop from the side to stabilize the desk while manipulating another panel",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "provide work surface",
+                "support placed items",
+                "span between side panels",
+                "define top surface"
+            ],
+            "semantic_description": "Large rectangular top panel in orange-red wood/laminate with a smooth finish and slightly rounded corners, forming the broad upper surface of the desk.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel to lift or carry the desk from the side",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the panel to stabilize the desk during assembly or repositioning",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support desktop",
+                "provide lateral stability",
+                "form side wall",
+                "help bear load to floor"
+            ],
+            "semantic_description": "Tall vertical side board in orange-red wood/laminate with a smooth finish, broad flat shape, and placement on one side of the desk.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side panel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel to lift or carry the desk from the side",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the panel to stabilize the desk during assembly or repositioning",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support desktop",
+                "provide lateral stability",
+                "form side wall",
+                "help bear load to floor"
+            ],
+            "semantic_description": "Tall vertical side board in orange-red wood/laminate with a smooth finish, broad flat shape, and placement on the opposite side of the desk.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front modesty panel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edge of the modesty panel to help pull or reposition the desk slightly",
+                    "confidence": 0.48
+                },
+                {
+                    "scenario": "hold the panel to steady the desk while aligning it",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "brace the frame",
+                "add front rigidity",
+                "provide privacy cover",
+                "connect side panels"
+            ],
+            "semantic_description": "Broad front panel below the desktop in orange-red wood/laminate with a smooth finish, spanning between the two side panels.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower front rail",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rail as a secondary hold while stabilizing the frame",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "use the rail as a low handhold during careful repositioning",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "reinforce lower frame",
+                "connect side panels",
+                "add structural support",
+                "limit racking"
+            ],
+            "semantic_description": "Long narrow horizontal board in orange-red wood/laminate running near the lower front of the desk, above the floor line.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom front stretcher",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "tie lower structure together",
+                "add base support",
+                "improve rigidity",
+                "define bottom front edge"
+            ],
+            "semantic_description": "Thin horizontal strip at the very bottom front edge of the desk, matching the orange-red wood/laminate appearance of the rest of the frame.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top front edge band",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish exposed desktop edge",
+                "protect top front edge",
+                "define front boundary"
+            ],
+            "semantic_description": "Thin narrow band along the front underside/edge of the desktop, appearing as a slim linear edge piece rather than a separate handle.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side bottom edge band",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish lower side edges",
+                "protect bottom panel edges",
+                "define panel boundaries"
+            ],
+            "semantic_description": "Very thin strips visible along the lower edges and corners of the side panels, matching the desk color family and appearing as edge bands rather than hardware caps.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side inner edge strip",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish exposed inner edge",
+                "protect panel edge",
+                "cover seam line"
+            ],
+            "semantic_description": "Narrow linear strip along an inner lower front edge near the side panels, visually reading as a slim edge or seam piece.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small feet or floor glides",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contact floor",
+                "reduce wear at contact points",
+                "slightly stabilize base",
+                "protect lower corners"
+            ],
+            "semantic_description": "Very small contact points or glides at the bottom corners near the floor, darker than the main panels and only minimally visible.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color part identities are wrong; tiny edge strips/glides are misassigned and some described parts are not distinct physical components."
+    }
+}

dataset/furniture/table/fa7b59f30c8b527eb0a9a03f051f6652/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3e7854ab92ac63c1b2b5aee2964fde04b21714637e2301c50a263c0a6ce805
+size 690788

dataset/furniture/table/fa7b59f30c8b527eb0a9a03f051f6652/fa7b59f30c8b527eb0a9a03f051f6652.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>