Add asset furniture/table/38ff14e9904f58e5a36b9e141a8697e2

.gitattributes

@@ -6954,3 +6954,4 @@ dataset/furniture/table/29b7e6a9d1ea58db89451de4beeb8ea3/affordance/mesh_part_se
 dataset/furniture/table/2b301955fe975ff7ab473e2d109c6e86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/339bf1697be759f0957b3a00012d12c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/38ff14e9904f58e5a36b9e141a8697e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/38ff14e9904f58e5a36b9e141a8697e2/38ff14e9904f58e5a36b9e141a8697e2.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/38ff14e9904f58e5a36b9e141a8697e2/affordance/affordance_annot.json

@@ -0,0 +1,167 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the table",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the tabletop edge to stabilize the table during manipulation",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a flat surface",
+                "support placed items",
+                "serve as main work surface",
+                "distribute load across the top"
+            ],
+            "semantic_description": "Large rounded-square orange tabletop, likely wood or laminated wood, with a smooth matte-to-satin finish, hard surface, thick slab form, and positioned as the broad top platform.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front left leg",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift or drag the small table",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the leg to stabilize the table while adjusting position",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "support tabletop",
+                "transfer load to floor",
+                "stabilize one corner",
+                "maintain table height"
+            ],
+            "semantic_description": "Narrow vertical brown leg with a hard smooth wooden appearance, matte finish, straight rectangular profile, located at a front corner beneath the tabletop.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front right leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift or drag the small table",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "hold the leg to stabilize the table while adjusting position",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support tabletop",
+                "transfer load to floor",
+                "stabilize one corner",
+                "maintain table height"
+            ],
+            "semantic_description": "Slim vertical brown leg with a hard smooth wooden appearance, matte finish, straight rectangular shape, positioned at the opposite front corner under the tabletop.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear left leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift or rotate the table from underneath",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the leg to steady the table during repositioning",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "support tabletop",
+                "transfer load to floor",
+                "stabilize structure",
+                "maintain table stance"
+            ],
+            "semantic_description": "Straight brown rear corner leg with a hard smooth wood-like surface, matte finish, rectangular form, and smaller visible area due to its position beneath the top.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear right leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift or rotate the table from underneath",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "hold the leg to steady the table during repositioning",
+                    "confidence": 0.65
+                }
+            ],
+            "functional_labels": [
+                "support tabletop",
+                "transfer load to floor",
+                "stabilize structure",
+                "maintain table stance"
+            ],
+            "semantic_description": "Vertical brown corner leg with a hard smooth wood-like texture, matte finish, rectangular profile, mounted beneath the tabletop at the opposite rear side.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower shelf panel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the shelf edge from below to help lift the table",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the shelf panel to stabilize the table while moving it",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "provide secondary storage surface",
+                "brace the leg structure",
+                "support items below the tabletop",
+                "increase rigidity"
+            ],
+            "semantic_description": "Broad dark brown lower shelf panel, likely wood, with a smooth matte finish and hard flat surface, spanning between the legs below the tabletop as a secondary shelf.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner support panel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace the leg frame",
+                "add structural rigidity",
+                "support the table's lower structure",
+                "act as an intermediate panel within the frame"
+            ],
+            "semantic_description": "Flat dark brown rectangular panel with a smooth wood-like matte finish, mounted inside the leg frame between the tabletop and the lower shelf, visible from below as an intermediate support panel.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Orange mask is not an inner support panel; it is the underside of the tabletop/apron area."
+    }
+}

dataset/furniture/table/38ff14e9904f58e5a36b9e141a8697e2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e7680e5dbe1d7914b92808994d79f308d0fb74db51aebeac1a2542344108fc
+size 508364