Add asset furniture/table/0e5037eebfc15fddb63ea0f378d34b78

.gitattributes

@@ -6942,3 +6942,4 @@ dataset/furniture/chair/eaa4224cad1a51ca9b82063642e27343/affordance/mesh_part_se
 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/0a3e25e9476e5d929e41458d50117196/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/0e5037eebfc15fddb63ea0f378d34b78.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>5.269569516181946</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>11</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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/0e5037eebfc15fddb63ea0f378d34b78/affordance/affordance_annot.json

@@ -0,0 +1,207 @@
+{
+    "affordances": [
+        {
+            "part_name": "seat cushion",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the seat edge from above/side to lift or reposition the stool",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the seat surface to stabilize the stool during manipulation",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "provide a sitting surface",
+                "support a seated user",
+                "serve as the top surface",
+                "distribute load to the base"
+            ],
+            "semantic_description": "Large irregular rounded top cushion in bright red to reddish-orange, with a smooth slightly glossy upholstered surface, soft dimpling, and a gently wavy organic outline forming the uppermost surface.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_52": {
+                    "confidence": 0.45902422070503235,
+                    "position": [
+                        0.054024772718548775,
+                        0.32086694799363613,
+                        0.21173272281885147
+                    ],
+                    "orientation": {
+                        "w": 0.5192107310116443,
+                        "xyz": [
+                            0.4830536929380671,
+                            -0.525476191155864,
+                            0.4700575699524206
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "outer legs",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one outer leg to drag or reposition the stool",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold opposite legs to stabilize or lift the stool",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "support the seat",
+                "elevate the seat",
+                "provide floor contact",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Tall dark brown wooden side legs with a smooth finish and straight slab-like shapes running from the underside of the seat to the floor.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel area to steady the stool while moving it",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "brace the legs",
+                "stiffen the frame",
+                "fill the side structure",
+                "help resist lateral sway"
+            ],
+            "semantic_description": "Medium-sized dark brown wooden inset side panel with a smooth finish and flat rectangular shape mounted between the outer legs below the seat.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower stretcher",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower stretcher to pull or rotate the stool slightly",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the stretcher while another gripper lifts from the seat",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "connect the lower legs",
+                "brace the base",
+                "improve rigidity",
+                "stabilize against racking"
+            ],
+            "semantic_description": "Curved dark brown wooden lower brace with a smooth surface spanning near the bottom of the base, forming an arched crosspiece between the legs.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_82": {
+                    "confidence": 0.4198899269104004,
+                    "position": [
+                        0.1552127543836832,
+                        0.26846317015588284,
+                        0.22984207421541214
+                    ],
+                    "orientation": {
+                        "w": 0.4418182048949369,
+                        "xyz": [
+                            0.5896127434093419,
+                            0.4634421609725784,
+                            -0.49231580318510154
+                        ]
+                    }
+                },
+                "grasp_86": {
+                    "confidence": 0.38060060143470764,
+                    "position": [
+                        0.05072286166250706,
+                        -0.02023571915924549,
+                        0.36434168368577957
+                    ],
+                    "orientation": {
+                        "w": 0.060401320086057336,
+                        "xyz": [
+                            -0.14909723978422587,
+                            -0.9837084730096332,
+                            -0.08024545937087899
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper cross braces",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch one upper cross brace underneath to steady the stool during lifting",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "connect upper supports",
+                "brace the frame",
+                "stabilize the underside",
+                "resist lateral movement"
+            ],
+            "semantic_description": "Small dark brown wooden diagonal cross braces under the seat with a smooth finish, forming an X-like bracing structure between the upper supports near the center underside.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "central vertical support",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the narrow central vertical support from underneath for stabilization",
+                    "confidence": 0.27
+                }
+            ],
+            "functional_labels": [
+                "connect internal braces",
+                "stiffen the center of the frame",
+                "support the underside bracing",
+                "help distribute load"
+            ],
+            "semantic_description": "Thin narrow vertical wooden support under the seat, dark brown with a smooth finish, positioned centrally and noticeably slimmer than the outer legs.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_63": {
+                    "confidence": 0.6902217268943787,
+                    "position": [
+                        -0.007203543558716774,
+                        -0.04179464094340801,
+                        0.32750029116868973
+                    ],
+                    "orientation": {
+                        "w": 0.050833079292312844,
+                        "xyz": [
+                            0.38047880084865215,
+                            0.9183664340881367,
+                            0.09620276968296093
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and descriptions mismatch mask/object; cyan are frame posts not just outer legs, purple are side panels/plaque areas, and upper braces are not diagonal X braces."
+    }
+}

dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f141dc400bbfd30a5be0c2ffc6d2454dc4a0614b16543c37ea1e8e4031ec932c
+size 964436