Add asset furniture/table/65745939f97f585490c2f08ce42f510f

.gitattributes

@@ -6959,4 +6959,4 @@ dataset/furniture/table/4c9ad6af9c9052958a476b6ae57c9671/affordance/mesh_part_se
 dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/60eef28f2dfc5d0a905ffacd66fdc49b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/61fda69b8c1f59a6a642cb193dec0731/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/65745939f97f585490c2f08ce42f510f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/65745939f97f585490c2f08ce42f510f/65745939f97f585490c2f08ce42f510f.urdf

@@ -45,13 +45,14 @@
          <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>15</part_count>
+         <part_count>6</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>
                <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/65745939f97f585490c2f08ce42f510f/affordance/affordance_annot.json

@@ -0,0 +1,133 @@
+{
+    "affordances": [
+        {
+            "part_name": "desktop",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the desktop edge to lift or reposition the desk during transport",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the desktop to stabilize the desk while another tool manipulates lower parts",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide the main work surface",
+                "support items placed on top",
+                "span between the side panels",
+                "define the desk's top boundary"
+            ],
+            "semantic_description": "Large light wood top panel with a matte smooth hard surface and visible wood grain, broad and slightly curved at the front, forming the uppermost work surface.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower storage shelf",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the shelf to steady the desk during inspection or assembly",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "use the shelf edge as a secondary hold while repositioning the desk",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "provide lower storage space",
+                "support items placed under the desktop",
+                "connect side supports",
+                "form the base of the side storage area"
+            ],
+            "semantic_description": "Wide light wood horizontal shelf panel beneath the desktop, with a matte smooth finish and matching wood tone, spanning between the side supports and forming an open storage area.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel edge to lift or rotate the desk",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the desk while moving it",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "support the desktop",
+                "act as a leg structure",
+                "stabilize lateral load",
+                "define the left side boundary"
+            ],
+            "semantic_description": "Tall light wood side support panel with a matte smooth hard surface and visible grain, positioned on the left side as a broad vertical leg-like support.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side panel",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel edge to lift or rotate the desk",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the desk while moving it",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support the desktop",
+                "act as a leg structure",
+                "stabilize lateral load",
+                "define the right side boundary"
+            ],
+            "semantic_description": "Tall light wood side support panel with a matte smooth hard surface and visible grain, positioned on the right side as a broad vertical leg-like support.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feet pads",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contact the floor",
+                "distribute load at the base",
+                "protect the floor",
+                "improve stability"
+            ],
+            "semantic_description": "Small dark gray to black pads at the bottoms of the side panels, appearing hard and slightly matte, serving as low-profile floor-contact feet.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small end divider",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "partition the shelf storage area",
+                "help retain items at one end of the shelf",
+                "provide local structural support"
+            ],
+            "semantic_description": "Small light wood vertical divider panel at one end of the lower shelf area, with a matte smooth finish and matching wood tone, separating a narrow shelf compartment.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part descriptions mismatch geometry; shelf is slanted side organizer, not horizontal lower shelf, and graspability/confidence are overstated."
+    }
+}

dataset/furniture/table/65745939f97f585490c2f08ce42f510f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:219ad7671139f5a5150539c73c6623b503f2287ac3f7c23892ab5910ee18a769
+size 516488