Add asset furniture/table/0a3e25e9476e5d929e41458d50117196

.gitattributes

@@ -6941,3 +6941,4 @@ dataset/furniture/chair/e9a279d82e6c50219e06e457fc224129/affordance/mesh_part_se
 dataset/furniture/chair/eaa4224cad1a51ca9b82063642e27343/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/0632cdfa6b0b596b93c124dcae3d3a9b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/0a3e25e9476e5d929e41458d50117196/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/0a3e25e9476e5d929e41458d50117196/0a3e25e9476e5d929e41458d50117196.urdf

@@ -45,7 +45,7 @@
          <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>10</part_count>
+         <part_count>11</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>

dataset/furniture/table/0a3e25e9476e5d929e41458d50117196/affordance/affordance_annot.json

@@ -0,0 +1,223 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edges to lift or reposition the table",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the tabletop to stabilize the table during assembly or inspection",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a flat work surface",
+                "support placed items",
+                "define the main top surface"
+            ],
+            "semantic_description": "Large rectangular light-brown wooden top with a smooth matte finish, visible wood grain, rounded corners, and the dominant upper surface of the table.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "apron side rail",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side rail from underneath to lift or reposition the table",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the side rail to stabilize the table during handling",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "connect legs",
+                "stiffen the frame",
+                "support the tabletop underside",
+                "resist wobble"
+            ],
+            "semantic_description": "Long narrow light-brown wooden rail under one long edge, with a smooth matte finish and straight rectangular form running along the tabletop underside.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "apron side rail",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side rail from underneath to lift or reposition the table",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "hold the side rail to stabilize the table during handling",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "connect legs",
+                "stiffen the frame",
+                "support the tabletop underside",
+                "resist wobble"
+            ],
+            "semantic_description": "Long narrow light-brown wooden rail under the opposite long edge, with a smooth matte finish and straight rectangular form running along the tabletop underside.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "apron end rail",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the end rail from underneath to nudge or reposition the table",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "hold the end rail to stabilize the table while moving it",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "connect legs",
+                "stiffen the frame",
+                "support the tabletop underside",
+                "maintain rectangular shape"
+            ],
+            "semantic_description": "Short light-brown wooden rail beneath one narrow end, with a smooth matte surface and straight rectangular shape tucked under the tabletop edge.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "apron end rail",
+            "mask_color": "Light Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the end rail from underneath to nudge or reposition the table",
+                    "confidence": 0.54
+                },
+                {
+                    "scenario": "hold the end rail to stabilize the table while moving it",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "connect legs",
+                "stiffen the frame",
+                "support the tabletop underside",
+                "maintain rectangular shape"
+            ],
+            "semantic_description": "Short light-brown wooden rail beneath the opposite narrow end, with a smooth matte surface and straight rectangular shape tucked under the tabletop edge.",
+            "id": 56,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to drag or pivot the table slightly",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the leg to stabilize the table during transport or assembly",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the tabletop",
+                "transfer load to the floor",
+                "provide stability"
+            ],
+            "semantic_description": "Slender cylindrical light-brown wooden leg with a smooth matte finish, vertically oriented at a corner and slightly tapered toward the floor.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to drag or pivot the table slightly",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the leg to stabilize the table during transport or assembly",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the tabletop",
+                "transfer load to the floor",
+                "provide stability"
+            ],
+            "semantic_description": "Slender cylindrical light-brown wooden leg with a smooth matte finish, vertically oriented at a corner and slightly tapered toward the floor.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to drag or pivot the table slightly",
+                    "confidence": 0.65
+                },
+                {
+                    "scenario": "hold the leg to stabilize the table during transport or assembly",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the tabletop",
+                "transfer load to the floor",
+                "provide stability"
+            ],
+            "semantic_description": "Slender cylindrical light-brown wooden leg with a smooth matte finish, vertically oriented at a corner and slightly tapered toward the floor.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to drag or pivot the table slightly",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the leg to stabilize the table during transport or assembly",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the tabletop",
+                "transfer load to the floor",
+                "provide stability"
+            ],
+            "semantic_description": "Slender cylindrical light-brown wooden leg with a smooth matte finish, vertically oriented at a corner and slightly tapered toward the floor.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/table/0a3e25e9476e5d929e41458d50117196/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69fd9ebab928268aa08d72ceace344e07f10feed25222fcdf2adc180b026de7d
+size 1772092