Add asset furniture/table/0632cdfa6b0b596b93c124dcae3d3a9b

.gitattributes

@@ -6940,3 +6940,4 @@ dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/affordance/mesh_part_se
 dataset/furniture/chair/e9a279d82e6c50219e06e457fc224129/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/0632cdfa6b0b596b93c124dcae3d3a9b/0632cdfa6b0b596b93c124dcae3d3a9b.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/0632cdfa6b0b596b93c124dcae3d3a9b/affordance/affordance_annot.json

@@ -0,0 +1,256 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the table",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the tabletop edge to stabilize the table during inspection or pushing",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "provide a flat work surface",
+                "support placed objects",
+                "serve as the main top surface"
+            ],
+            "semantic_description": "Large rectangular light wood tabletop with rounded corners, a smooth matte finish, subtle wood grain, and a broad flat upper surface.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower shelf panel",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower shelf edge from underneath to help lift or steady the table",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the shelf panel while repositioning or inspecting the underside",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "provide a lower storage shelf",
+                "support items beneath the tabletop",
+                "add structural stiffness to the frame"
+            ],
+            "semantic_description": "Large flat medium-brown wooden shelf panel mounted below the tabletop, rectangular and smooth with a matte finish, spanning much of the table underside.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side apron rail",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the long side apron from below to help lift or steady the table",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the apron rail during repositioning or inspection",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "connect adjacent legs",
+                "brace the tabletop",
+                "stabilize the frame"
+            ],
+            "semantic_description": "Long light-wood side rail beneath the tabletop edge, narrow and rectangular with a smooth matte surface.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "undershelf support brace",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the lower shelf panel",
+                "reinforce the underside structure",
+                "improve frame rigidity"
+            ],
+            "semantic_description": "Thin narrow wooden support brace beneath the shelf area, visible as a slender strip along the underside frame with a smooth matte finish.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or rotate the table slightly",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table while another gripper manipulates the top",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "provide ground contact",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Straight light wood leg with a smooth matte finish and rectangular profile, extending from a tabletop corner to the floor.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or rotate the table slightly",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table while another gripper manipulates the top",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "provide ground contact",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Straight light wood leg with a smooth matte finish and rectangular profile, extending from a tabletop corner to the floor.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or rotate the table slightly",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table while another gripper manipulates the top",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "provide ground contact",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Straight light wood leg with a smooth matte finish and rectangular profile, extending from a tabletop corner to the floor.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or rotate the table slightly",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table while another gripper manipulates the top",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "provide ground contact",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Straight light-to-medium wood leg with a smooth matte finish and rectangular profile, extending from a tabletop corner to the floor.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side apron rail",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the opposite long side apron from underneath to help lift the table",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold the rail to steady the frame during repositioning",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "connect adjacent legs",
+                "support the tabletop edge",
+                "add lateral rigidity"
+            ],
+            "semantic_description": "Long narrow light-wood rail running beneath the opposite long edge of the tabletop, straight and rectangular with a smooth matte finish.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end apron rail",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the short end apron from underneath to help steady the table",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the rail during repositioning",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "connect adjacent legs",
+                "support the tabletop edge",
+                "add frame rigidity"
+            ],
+            "semantic_description": "Narrow wooden apron rail beneath a short end of the tabletop, straight and rectangular with a smooth matte finish.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end apron rail",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the opposite short end apron from underneath to help steady the table",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the rail during repositioning",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "connect adjacent legs",
+                "support the tabletop edge",
+                "add frame rigidity"
+            ],
+            "semantic_description": "Narrow wooden apron rail beneath the opposite short end of the tabletop, straight and rectangular with a smooth matte finish.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Brown part is underside panel, not lower shelf; purple parts are graspable support stretchers, not shelf braces."
+    }
+}

dataset/furniture/table/0632cdfa6b0b596b93c124dcae3d3a9b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d69f3388888433107d73d38f266d36df70e233b2216b2d89f7d4ad561503bb03
+size 1551624