Add asset furniture/table/f2382ad41208550eb278b73daa0d3ff5

.gitattributes

@@ -6985,4 +6985,4 @@ dataset/furniture/table/c6c32200816951b2998904219ef9df5f/affordance/mesh_part_se
 dataset/furniture/table/ca0ffde5d1045e34abcad2ca415bfad4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/f1af886972b754c7be18017e29d3d969/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/f2382ad41208550eb278b73daa0d3ff5/affordance/affordance_annot.json

@@ -0,0 +1,282 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Red",
+            "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 manipulation",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "provide a flat work surface",
+                "support placed items",
+                "main structural top"
+            ],
+            "semantic_description": "Large rectangular orange-brown wooden top with a glossy smooth finish, visible striped wood grain, hard flat surfaces, and slightly beveled edges forming the upper surface of the table.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower shelf",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the shelf edge from below to help lift or drag the table",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the shelf to stabilize the table while another gripper manipulates a leg",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide secondary storage surface",
+                "brace the leg structure",
+                "support small items below the top",
+                "add rigidity"
+            ],
+            "semantic_description": "Medium rectangular lower panel beneath the tabletop, made of orange-brown wood with a smooth finish and visible grain, forming a smaller underslung storage shelf.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front left leg",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift one side of the table",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the leg to drag or reposition the table",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp the leg to stabilize the table during inspection",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the surfaces",
+                "transfer load to the floor",
+                "provide a side grasp point"
+            ],
+            "semantic_description": "One slender tapered light-wood corner leg with a smooth satin finish, rounded profile, and vertical placement from the tabletop toward the floor.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front right leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift one side of the table",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the leg to drag or reposition the table",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp the leg to stabilize the table during inspection",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the surfaces",
+                "transfer load to the floor",
+                "provide a side grasp point"
+            ],
+            "semantic_description": "One slender tapered light-wood corner leg with a smooth satin finish, rounded profile, and vertical placement from the tabletop toward the floor.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear right leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift one side of the table",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the leg to drag or reposition the table",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp the leg to stabilize the table during inspection",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the surfaces",
+                "transfer load to the floor",
+                "provide a side grasp point"
+            ],
+            "semantic_description": "One slender tapered light-wood corner leg with a smooth satin finish, rounded profile, and vertical placement from the tabletop toward the floor.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear left leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift one side of the table",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the leg to drag or reposition the table",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp the leg to stabilize the table during inspection",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the surfaces",
+                "transfer load to the floor",
+                "provide a side grasp point"
+            ],
+            "semantic_description": "One slender tapered light-wood corner leg with a smooth satin finish, rounded profile, and vertical placement from the tabletop toward the floor.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side apron rail",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rail from underneath to help steady the table",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold the rail to stabilize the frame during handling",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "brace the tabletop frame",
+                "connect adjacent legs",
+                "stiffen the underside"
+            ],
+            "semantic_description": "Thin light-wood stretcher/apron rail directly under the tabletop edge, with a smooth finish and narrow rectangular profile spanning between two legs.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side apron rail",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rail from underneath to help steady the table",
+                    "confidence": 0.49
+                },
+                {
+                    "scenario": "hold the rail to stabilize the frame during handling",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "brace the tabletop frame",
+                "connect adjacent legs",
+                "stiffen the underside"
+            ],
+            "semantic_description": "Thin light-wood stretcher/apron rail directly under the tabletop edge, with a smooth finish and narrow rectangular profile spanning between two legs.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side apron rail",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rail from underneath to help steady the table",
+                    "confidence": 0.49
+                },
+                {
+                    "scenario": "hold the rail to stabilize the frame during handling",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "brace the tabletop frame",
+                "connect adjacent legs",
+                "stiffen the underside"
+            ],
+            "semantic_description": "Thin light-wood stretcher/apron rail directly under the tabletop edge, with a smooth finish and narrow rectangular profile spanning between two legs.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side apron rail",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rail from underneath to help steady the table",
+                    "confidence": 0.49
+                },
+                {
+                    "scenario": "hold the rail to stabilize the frame during handling",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "brace the tabletop frame",
+                "connect adjacent legs",
+                "stiffen the underside"
+            ],
+            "semantic_description": "Thin light-wood stretcher/apron rail directly under the tabletop edge, with a smooth finish and narrow rectangular profile spanning between two legs.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "shelf support rail",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower rail to help steady the table",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the lower rail while manipulating another part",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support the lower shelf",
+                "brace the frame",
+                "connect structural members"
+            ],
+            "semantic_description": "Thin light-wood lower support rail with a smooth finish and narrow rectangular profile, spanning between legs near the lower shelf.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Apron rails are misidentified as side-only and lower rail count is incomplete/inaccurate for the visible frame parts."
+    }
+}

dataset/furniture/table/f2382ad41208550eb278b73daa0d3ff5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04b825bd26aa6a633967f73fb07cf7aeab170c58c4f8333ebf79a0456354a462
+size 708708

dataset/furniture/table/f2382ad41208550eb278b73daa0d3ff5/f2382ad41208550eb278b73daa0d3ff5.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>