Add asset furniture/table/63e070840597536187a226eef53627e7

.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/65745939f97f585490c2f08ce42f510f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/63e070840597536187a226eef53627e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/63e070840597536187a226eef53627e7/63e070840597536187a226eef53627e7.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/63e070840597536187a226eef53627e7/affordance/affordance_annot.json

@@ -0,0 +1,207 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the small table",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the tabletop rim to stabilize the table during movement",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a flat support surface",
+                "hold placed items",
+                "define the main working area"
+            ],
+            "semantic_description": "Large dark brown wooden top with a smooth polished finish and a rounded triangular or clover-like outline, forming the main upper surface of the small table.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "apron frame",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the apron from underneath to help lift the table",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the apron to stabilize the table while repositioning it",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "connect the legs",
+                "stiffen the structure",
+                "provide side reinforcement"
+            ],
+            "semantic_description": "Curved dark brown wooden frame beneath the top with a smooth polished surface, forming a continuous band around the underside perimeter.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front leg",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front leg to drag or reposition the table slightly",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the leg to tilt the table during transport or inspection",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the tabletop",
+                "provide vertical stability"
+            ],
+            "semantic_description": "Slender curved dark brown wooden leg with a polished finish, positioned at the front center area in the shown views and tapering toward a small foot.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left leg",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the left leg to reposition the table",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the leg to stabilize one side during lifting",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the tabletop",
+                "stabilize the left side"
+            ],
+            "semantic_description": "Thin curved dark brown wooden leg with a smooth polished surface, located on the left side and ending in a small foot.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the right leg to reposition the table",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the leg to stabilize one side during lifting",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the tabletop",
+                "stabilize the right side"
+            ],
+            "semantic_description": "Thin curved dark brown wooden leg with a polished finish, positioned on the right side and tapering to a small foot.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear left leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear left leg to rotate or reposition the table",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold the leg while aligning table placement",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the tabletop",
+                "stabilize the rear left area"
+            ],
+            "semantic_description": "Slender dark brown wooden leg with a glossy smooth surface, visible near the rear left side and partly occluded in some views.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear right leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear right leg to rotate or reposition the table",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold the leg while aligning table placement",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the tabletop",
+                "stabilize the rear right area"
+            ],
+            "semantic_description": "Slim curved dark brown wooden leg with a polished smooth finish, visible near the rear right side and ending in a small foot.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side apron support",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace the side understructure",
+                "reinforce the apron region",
+                "add lateral stiffness"
+            ],
+            "semantic_description": "Narrow curved dark brown wooden support element beneath the tabletop edge, bridging between the apron and adjacent leg area along the side.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "additional leg",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to help reposition or rotate the table",
+                    "confidence": 0.48
+                },
+                {
+                    "scenario": "hold the leg to steady the table during placement",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "elevate the tabletop",
+                "provide local stability"
+            ],
+            "semantic_description": "Slender dark brown wooden leg with a smooth polished finish, visible from rear or side views and partly occluded in some angles.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Part identities and mask colors mismatch; object has four legs, not five, and tabletop color/description is inaccurate."
+    }
+}

dataset/furniture/table/63e070840597536187a226eef53627e7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51d4b5935a15272490db491783196e62779a34887e76c36fab6e1e039b6e17cd
+size 2163468