Add asset furniture/table/206d7c2430cf5357bc2c176239fca0ac

.gitattributes

@@ -6948,4 +6948,4 @@ dataset/furniture/table/1522dad65f0859758dad5636ba348bf8/affordance/mesh_part_se
 dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/17fde0add43752449698e861bee0892c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/18848428c54456aa82070f2fd33f7bb4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/19df7829ff51547ab3a6962b30cf0bf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/206d7c2430cf5357bc2c176239fca0ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/206d7c2430cf5357bc2c176239fca0ac/206d7c2430cf5357bc2c176239fca0ac.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>

dataset/furniture/table/206d7c2430cf5357bc2c176239fca0ac/affordance/affordance_annot.json

@@ -0,0 +1,207 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the small table",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the tabletop from opposite side edges to stabilize the table during moving",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a flat work surface",
+                "support placed items",
+                "form the main top surface"
+            ],
+            "semantic_description": "Large rectangular reddish-brown wooden top with a smooth finish and slightly rounded corners, occupying the uppermost position and forming the main flat surface of the table.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front apron panel",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the underside of the tabletop",
+                "connect the front legs",
+                "stiffen the front of the frame",
+                "provide structural support"
+            ],
+            "semantic_description": "Broad curved reddish-brown wooden panel beneath the tabletop at the front, with a smooth finished surface spanning between the two front legs.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front left leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to steady the table while repositioning it",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the leg during lifting together with another grasp on the tabletop",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "support one corner of the table",
+                "transfer load to the floor",
+                "help stabilize the structure"
+            ],
+            "semantic_description": "Slim cylindrical reddish-brown wooden leg with a smooth finish, positioned at the front left corner and extending vertically to the floor.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front right leg",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to steady the table while repositioning it",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the leg during lifting together with another grasp on the tabletop",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "support one corner of the table",
+                "transfer load to the floor",
+                "help stabilize the structure"
+            ],
+            "semantic_description": "Slim cylindrical reddish-brown wooden leg with a smooth finish, positioned at the front right corner and extending vertically to the floor.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear left leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg from the side to help pivot or reposition the table",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the leg to steady the table during placement",
+                    "confidence": 0.53
+                }
+            ],
+            "functional_labels": [
+                "support one corner of the table",
+                "transfer load to the floor",
+                "help stabilize the structure"
+            ],
+            "semantic_description": "Slim cylindrical reddish-brown wooden leg with a smooth finish, positioned at the rear left corner and visible behind the front apron in angled views.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear right leg",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg from the side to help pivot or reposition the table",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the leg to steady the table during placement",
+                    "confidence": 0.53
+                }
+            ],
+            "functional_labels": [
+                "support one corner of the table",
+                "transfer load to the floor",
+                "help stabilize the structure"
+            ],
+            "semantic_description": "Slim cylindrical reddish-brown wooden leg with a smooth finish, positioned at the rear right corner beneath the tabletop.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front upper rail",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the front legs under the tabletop",
+                "reinforce the front edge",
+                "stiffen the frame"
+            ],
+            "semantic_description": "Narrow reddish-brown wooden rail running along the front underside just below the tabletop, spanning between the front legs above the curved apron panel.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side rail",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the left pair of legs",
+                "reinforce the left side of the frame",
+                "stiffen the underside structure"
+            ],
+            "semantic_description": "Thin reddish-brown wooden rail along the left underside edge beneath the tabletop, linking the left front and rear legs.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side rail",
+            "mask_color": "Light Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the right pair of legs",
+                "reinforce the right side of the frame",
+                "stiffen the underside structure"
+            ],
+            "semantic_description": "Thin reddish-brown wooden rail along the right underside edge beneath the tabletop, linking the right front and rear legs.",
+            "id": null
+        },
+        {
+            "part_name": "front trim strip",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the front underside edge",
+                "cover or tidy the joint between top and front apron area",
+                "provide minor edge reinforcement"
+            ],
+            "semantic_description": "Very narrow reddish-brown strip tracing the front underside edge beneath the tabletop, visible as a slim band above the larger curved front apron panel.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small front center peg",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover or mark a central attachment point",
+                "provide a small decorative detail on the front",
+                "finish the center of the front apron area"
+            ],
+            "semantic_description": "Small circular light-colored peg or cap centered on the front apron area, appearing as a tiny round detail on the curved front panel.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts misidentified: mask colors and names for rails/trim/peg don't match segmented regions; front upper rail and trim strip are incorrect."
+    }
+}

dataset/furniture/table/206d7c2430cf5357bc2c176239fca0ac/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:420bcc5b773eb5c8cb9468c7b1f82e5ca15457a72e7999535a9d03ea90715de4
+size 1564100