Add asset furniture/table/2a842458f7855996b2183eb6253166be

.gitattributes

@@ -6950,4 +6950,4 @@ dataset/furniture/table/17fde0add43752449698e861bee0892c/affordance/mesh_part_se
 dataset/furniture/table/18848428c54456aa82070f2fd33f7bb4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/19df7829ff51547ab3a6962b30cf0bf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/2a842458f7855996b2183eb6253166be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/2a842458f7855996b2183eb6253166be/2a842458f7855996b2183eb6253166be.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/2a842458f7855996b2183eb6253166be/affordance/affordance_annot.json

@@ -0,0 +1,106 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the low table",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the tabletop edge to stabilize the table during movement or inspection",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "provide a flat surface",
+                "support placed items",
+                "define the top of the table"
+            ],
+            "semantic_description": "Large rectangular top panel in bright reddish-orange wood-like material with a mostly matte finish, visible dark linear grain-like streaks, smooth surface, and slightly rounded edges.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table legs",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to lift one side of the table",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold a leg to drag or reposition the table",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "grasp a leg to stabilize the table while viewing underneath",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "transfer load to the floor",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Four thick vertical legs in matching reddish-orange wood-like material with visible vertical grain-like lines, matte finish, and blocky rectangular shape at the table corners.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side apron",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the apron from underneath to help lift the table",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the apron to steady the table during movement",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "connect the legs",
+                "stiffen the frame",
+                "support the underside of the top",
+                "brace the table structure"
+            ],
+            "semantic_description": "Rectangular side apron panels beneath the tabletop, made of darker reddish-brown wood-like material with a flat matte surface and broad panel-like shape spanning between the legs.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower stretcher",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower stretcher while tilting or carrying the table",
+                    "confidence": 0.49
+                },
+                {
+                    "scenario": "hold the stretcher to steady the lower structure during handling",
+                    "confidence": 0.53
+                }
+            ],
+            "functional_labels": [
+                "brace the lower frame",
+                "connect lower structural elements",
+                "add rigidity to the base area"
+            ],
+            "semantic_description": "Long narrow horizontal beam near the bottom between the side panels, in reddish wood-like material with a smooth matte finish and rectangular board-like shape.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Magenta part is a lower shelf/panel, not a stretcher; apron color/material description also mismatches visible object."
+    }
+}

dataset/furniture/table/2a842458f7855996b2183eb6253166be/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79b347ebe58396312381f799d5724d8aa160ffc5924d7c62424f722c33dd51f6
+size 1331760