Add asset furniture/table/710fc1c383f5542d8f52822fc08ee66c

.gitattributes

@@ -6964,3 +6964,4 @@ dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/affordance/mesh_part_se
 dataset/furniture/table/6779e113ecc4553986a0f6832b1dc5eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/68c7e1daf7c65cd6b321f582876c966e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/6e66a496a6bf5783ba4195d855a4242e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/710fc1c383f5542d8f52822fc08ee66c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/710fc1c383f5542d8f52822fc08ee66c/710fc1c383f5542d8f52822fc08ee66c.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.5979578495025635</ImageAestheticChecker>
          <overall>NO</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Desk is over-segmented into surface patches; side panels, legs, and apron pieces with same role use multiple colors.","merge_groups":[{"colors":["Green","Olive","Violet"],"target_part":"desk base/frame","reason":"legs and support panels are one structural base"},{"colors":["Crimson","Navy"],"target_part":"desk body/pedestal panels","reason":"same side enclosure split by view-dependent patching"}]}</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>7</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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/710fc1c383f5542d8f52822fc08ee66c/affordance/affordance_annot.json

@@ -0,0 +1,160 @@
+{
+    "affordances": [
+        {
+            "part_name": "desktop",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide a work surface",
+                "support placed items",
+                "form the top surface"
+            ],
+            "semantic_description": "Large rectangular reddish-brown wooden top with rounded corners, a smooth slightly glossy finish, and visible darker wood-grain streaks across the upper surface.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front apron/frame",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front frame rail to help pull or reposition the table",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the front frame to stabilize the table while another gripper lifts from the top or side",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "brace the front opening",
+                "connect the front supports",
+                "stabilize the structure",
+                "provide a front support frame"
+            ],
+            "semantic_description": "Reddish-brown wooden front frame/apron beneath the desktop, spanning the front opening and connecting the front supports, with a smooth finish and visible wood tone.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end panel",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the end panel edge to pull or rotate the table slightly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the end panel to stabilize the table during transport with a second grasp",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "close the end",
+                "provide structural bracing",
+                "stiffen the body",
+                "shield the inner space"
+            ],
+            "semantic_description": "Broad vertical reddish-brown wooden panel at one short end of the table, smooth and semi-glossy with subtle wood grain.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the long side panel edge to help push or reposition the table",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the table during lifting with another support point",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "enclose the side",
+                "provide lateral support",
+                "stiffen the body",
+                "shield the under-table area"
+            ],
+            "semantic_description": "Large flat reddish-brown wooden panel running along one long side beneath the desktop, with a smooth finish and faint grain.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg near the lower section to lift one side of the table",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold a leg to drag or pivot the table during repositioning",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "stabilize the table by pinching a leg while another gripper supports the top",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the top",
+                "transfer load to the floor",
+                "stabilize the corners"
+            ],
+            "semantic_description": "Short rounded reddish-brown wooden leg/support at the corners, with a smooth finish and sturdy profile contacting the floor.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner support panel",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "partition the under-table space",
+                "reinforce the frame",
+                "support attached panels"
+            ],
+            "semantic_description": "Small flat reddish-brown interior wooden support panel mounted under the top near one side, visible as a secondary divider or brace.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base runner",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower side runner from below as a secondary support during lifting",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "hold the base runner to help tilt or pivot the table slightly",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "connect lower supports",
+                "reinforce the base",
+                "provide a low side runner",
+                "protect the lower edge"
+            ],
+            "semantic_description": "Low horizontal reddish-brown wooden runner along the bottom edge near the floor on one side, visible as a narrow base strip beneath the side opening.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts misidentified: green is frame/legs, crimson is body panels not just end panel, violet is vertical divider not small support."
+    }
+}

dataset/furniture/table/710fc1c383f5542d8f52822fc08ee66c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2816b0bb19d5b22c64d7e6c5507b40239e605b41d5be0cb45cde75bb1c40f159
+size 2237272