Add asset furniture/table/551b4bfb8e2658bdb1add99362b1bf65

.gitattributes

@@ -6957,3 +6957,4 @@ dataset/furniture/table/339bf1697be759f0957b3a00012d12c4/affordance/mesh_part_se
 dataset/furniture/table/3e24a90f8a5c5471b6d26a3f95914d43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/4c9ad6af9c9052958a476b6ae57c9671/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/551b4bfb8e2658bdb1add99362b1bf65/551b4bfb8e2658bdb1add99362b1bf65.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/551b4bfb8e2658bdb1add99362b1bf65/affordance/affordance_annot.json

@@ -0,0 +1,116 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the table",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the tabletop side to stabilize the table during assembly or inspection",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a flat work surface",
+                "support placed items",
+                "form the main top surface of the table"
+            ],
+            "semantic_description": "Large rectangular red wooden top with a smooth semi-gloss finish, visible wood grain, hard texture, and slightly rounded edges forming the upper surface of the table.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to lift or drag the table from below",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table while rotating or turning it over",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "transfer load to the floor",
+                "provide standing stability"
+            ],
+            "semantic_description": "Long tapered red wooden leg with a smooth semi-gloss finish and hard surface, positioned at a corner and extending downward to support the table.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "apron",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side apron from underneath to carry the table",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold the apron to steady the table during movement or inspection",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "connect the legs",
+                "brace the structure",
+                "stiffen the frame",
+                "support the tabletop underside"
+            ],
+            "semantic_description": "Narrow red wooden frame rail beneath the tabletop with a smooth semi-gloss finish, hard texture, and elongated rectangular shape running between the legs.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end stretcher",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the transverse rail under the table while turning the table over or steadying it",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the rail during inspection or assembly of the underside",
+                    "confidence": 0.51
+                }
+            ],
+            "functional_labels": [
+                "reinforce the leg frame",
+                "connect the side aprons across the width",
+                "reduce racking and wobble"
+            ],
+            "semantic_description": "Red wooden horizontal rail beneath the tabletop, spanning across the table between the side frame members, with a smooth semi-gloss finish and rectangular bar shape.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside inset panel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fill the recessed underside area",
+                "form the bottom face of the central underside recess",
+                "provide a finished interior underside surface"
+            ],
+            "semantic_description": "Flat red wooden rectangular inset panel on the underside, recessed within the surrounding frame, with a smooth semi-gloss finish and broad panel-like shape rather than a thin strip.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-part matches are wrong: maroon marks side stretchers, not end stretcher; magenta marks side slots, not underside panel."
+    }
+}

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7efe0ec37ddf4dbc5c99fd5cff24a34219907ffaa9d612dcbee8aab59765aa0
+size 526636