Add asset furniture/table/31326f5a0f095e99bd51f854101910d7

.gitattributes

@@ -6952,3 +6952,4 @@ dataset/furniture/table/19df7829ff51547ab3a6962b30cf0bf8/affordance/mesh_part_se
 dataset/furniture/table/297e090d29465bd7b7de394e836087e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/29b7e6a9d1ea58db89451de4beeb8ea3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/31326f5a0f095e99bd51f854101910d7/31326f5a0f095e99bd51f854101910d7.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/31326f5a0f095e99bd51f854101910d7/affordance/affordance_annot.json

@@ -0,0 +1,58 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop and round apron/underside panel",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge or rim to lift or reposition the small table",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the tabletop rim to stabilize the table during manipulation",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a flat support surface",
+                "hold items above the floor",
+                "serve as the main work surface",
+                "form the upper body of the table",
+                "cover and enclose the underside structure"
+            ],
+            "semantic_description": "Large round red top assembly with a smooth matte hard surface and slightly thickened edge; the same masked part also includes the red circular underside/apron panel beneath the tabletop.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "legs and outer support ring/frame",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one leg to drag or rotate the table slightly",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "grasp the lower support ring or leg area to lift the table from below",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the surface",
+                "provide stability",
+                "transfer weight to the floor",
+                "connect the top assembly to the floor through the leg structure"
+            ],
+            "semantic_description": "Brown to reddish-brown wooden support structure consisting of several straight tapered legs and a circular outer support ring/frame beneath the top, with a matte smooth hard finish extending down to the floor.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Brown part description wrongly includes outer support ring; mask shows only legs and apron/rim is purple."
+    }
+}

dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:685b7554ab9a208749cd0ce59491c888c2a57eaab10d2e0b8a401a9e7c28ff8d
+size 582464